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Note 9 - Shareholders' Equity (Tables)
9 Months Ended
Sep. 30, 2018
Notes Tables  
Disclosure of Share-based Compensation Arrangements by Share-based Payment Award [Table Text Block]
   
Three-month periods ended
   
Nine
-month periods ended
 
   
September 30
,
   
October 1
,
   
September 30
,
   
October 1
,
 
   
2018
   
2017
   
2018
   
2017
 
Stock Options
  $
344
    $
130
    $
653
    $
518
 
Restricted Stock Grants
   
19
     
3
     
54
     
11
 
Total
  $
363
    $
133
    $
707
    $
529
 
Share-based Compensation, Stock Options, Activity [Table Text Block]
   
Number of
Shares
   
Weighted
Average
Exercise
Price
   
Weighted
Average
Remaining Contractual
Term (years)
   
Aggregate
Intrinsic
Value
 
Outstanding at January 1, 2018
   
1,860,211
    $
6.10
     
 
     
 
 
Granted
   
217,500
     
9.68
     
 
     
 
 
Exercised
   
(305,460
)    
4.54
     
 
     
 
 
Forfeited or Expired
   
(17,499
)    
5.61
     
 
     
 
 
Outstanding at September 30, 2018
   
1,754,752
    $
6.68
     
3.50
    $
3,986
 
Vested and Expected to Vest at September 30, 2018
   
1,650,364
    $
6.66
     
3.36
    $
3,791
 
Exercisable at September 30, 2018
   
1,174,378
    $
5.75
     
2.68
    $
3,193
 
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions [Table Text Block]
Risk-Free Interest Rate
   
2.6
%
Volatility Factor
   
47
%
Weighted Average Expected Life (Years)
   
5
 
Dividends
   
0.0
%