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Note 10 - Stock-based Compensation - Schedule of Allocation of Recognized Period Cost (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 27, 2020 | Sep. 29, 2019 | Sep. 27, 2020 | Sep. 29, 2019
Total costs and expenses | $ 258 | $ 748 | $ 601 | $ 2,490
Cost of Sales [Member] |  |  |  |
Total costs and expenses | 37 | 15 | 80 | 59
Research and Development Expense [Member] |  |  |  |
Total costs and expenses | 51 | 521 | 73 | 1,708
Selling, General and Administrative Expenses [Member] |  |  |  |
Total costs and expenses | $ 170 | $ 212 | $ 448 | $ 723

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