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Note 8 - Shareholders' Equity - Stock Option Activity (Details)
$ / shares in Units, $ in Thousands
 3 Months Ended
Apr. 01, 2018
USD ($)
$ / shares
shares
Options outstanding (in shares) | shares 1,860,211
Options outstanding - weighted average exercise price (in dollars per share) | $ / shares $ 6.10
Granted (in shares) | shares 14,000
Granted - weighted average exercise price (in dollars per share) | $ / shares $ 7.16
Exercised (in shares) | shares (221,009)
Exercised - weighted average exercise price (in dollars per share) | $ / shares $ 4.60
Forfeited or Expired (in shares) | shares (114,449)
Forfeited or expired - weighted average exercise price (in dollars per share) | $ / shares $ 11.60
Options outstanding (in shares) | shares 1,538,753
Options outstanding - weighted average exercise price (in dollars per share) | $ / shares $ 5.91
Options outstanding - weighted average remaining contractual term (Year) 3 years 226 days
Options outstanding - aggregate intrinsic value | $ $ 6,786
Vested and Expected to Vest (in shares) | shares 1,449,498
Options vested and expected to vest - weighted average exercise price (in dollars per share) | $ / shares $ 5.96
Options vested and expected to vest - weighted average remaining contractual term (Year) 3 years 182 days
Options vested and expected to vest - aggregate intrinsic value | $ $ 6,350
Options exercisable (in shares) | shares 917,915
Exercisable - weighted average exercise price (in dollars per share) | $ / shares $ 4.82
Exercisable - weighted average remaining contractual term (Year) 2 years 324 days
Exercisable - aggregate intrinsic value | $ $ 4,751