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Note 8 - Shareholders' Equity - Stock Option Activity (Details)
$ / shares in Units, $ in Thousands
 6 Months Ended
Jul. 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 216,500
Granted - weighted average exercise price (in dollars per share) | $ / shares $ 9.68
Exercised (in shares) | shares (290,476)
Exercised - weighted average exercise price (in dollars per share) | $ / shares $ 4.56
Forfeited or Expired (in shares) | shares (116,199)
Forfeited or expired - weighted average exercise price (in dollars per share) | $ / shares $ 11.53
Options outstanding (in shares) | shares 1,670,036
Options outstanding - weighted average exercise price (in dollars per share) | $ / shares $ 6.45
Options outstanding - weighted average remaining contractual term (Year) 3 years 313 days
Options outstanding - aggregate intrinsic value | $ $ 5,886
Vested and Expected to Vest (in shares) | shares 1,563,589
Options vested and expected to vest - weighted average exercise price (in dollars per share) | $ / shares $ 6.43
Options vested and expected to vest - weighted average remaining contractual term (Year) 3 years 262 days
Options vested and expected to vest - aggregate intrinsic value | $ $ 5,584
Options exercisable (in shares) | shares 981,556
Exercisable - weighted average exercise price (in dollars per share) | $ / shares $ 4.86
Exercisable - weighted average remaining contractual term (Year) 3 years 7 days
Exercisable - aggregate intrinsic value | $ $ 4,648