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Note 7 - Stock-based Compensation (Tables) | 6 Months Ended
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Jun. 30, 2019
Notes Tables |
Disclosure of Share-based Compensation Arrangements by Share-based Payment Award [Table Text Block] |
|  | Three-month period ended |  |  | Six-month period ended |
|  | June 30, |  |  | July 1, |  |  | June 30, |  |  | July 1, |
|  | 2019 |  |  | 2018 |  |  | 2019 |  |  | 2018 |
Stock options |  | $ | 142 |  |  | $ | 186 |  |  | $ | 316 |  |  | $ | 309 |
Restricted stock grants |  |  | 33 |  |  |  | 19 |  |  |  | 44 |  |  |  | 35 |
Total |  | $ | 175 |  |  | $ | 205 |  |  | $ | 360 |  |  | $ | 344 |
Share-based Payment Arrangement, Option, Activity [Table Text Block] |
|  | Number of Shares |  |  | Weighted Average Exercise Price |  |  | Weighted Average Remaining Contractual Term (years) |  |  | Aggregate Intrinsic Value |
Outstanding at January 1, 2019 |  |  | 1,576,087 |  |  | $ | 6.58 |  |  |  |  |  |  |  |  |
Granted |  |  | - |  |  |  | - |  |  |  |  |  |  |  |  |
Exercised |  |  | (104,587 | ) |  |  | 4.56 |  |  |  |  |  |  |  |  |
Forfeited or expired |  |  | (6,916 | ) |  |  | 4.59 |  |  |  |  |  |  |  |  |
Outstanding at June 30, 2019 |  |  | 1,464,584 |  |  | $ | 6.74 |  |  |  | 3.03 |  |  | $ | 2,917 |
Vested and expected to vest at June 30, 2019 |  |  | 1,409,866 |  |  | $ | 6.69 |  |  |  | 2.94 |  |  | $ | 2,860 |
Exercisable at June 30, 2019 |  |  | 1,189,793 |  |  | $ | 6.13 |  |  |  | 2.65 |  |  | $ | 2,704 |

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