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Note 3 - Recent Accounting Pronouncements (Details Textual) - USD ($)
 3 Months Ended
Apr. 01, 2018
Apr. 02, 2017
Jan. 01, 2018
Dec. 31, 2017
Retained Earnings (Accumulated Deficit), Ending Balance $ (113,216,000)   $ (111,421,000) $ (111,591,000)
Revenue from Contract with Customer, Including Assessed Tax $ 19,942,000 $ 18,185,000    
Earnings Per Share, Basic, Total $ (0.09) $ (0.16)    
Operating Income (Loss), Total $ (1,626,000) $ (4,977,000)    
Other Nonoperating Income (Expense), Total (84,000) (1,848,000)    
Difference between Revenue Guidance in Effect before and after Topic 606 [Member]        
Retained Earnings (Accumulated Deficit), Ending Balance 276,000      
Revenue from Contract with Customer, Including Assessed Tax $ 507,000      
Earnings Per Share, Basic, Total $ 0.01      
Operating Income (Loss), Total $ 106,000      
Other Nonoperating Income (Expense), Total 0      
Accounting Standards Update 2014-09 [Member]        
Retained Earnings (Accumulated Deficit), Ending Balance     $ 170,000  
New Accounting Pronouncement or Change in Accounting Principle, Effect of Change on Operating Results (106,000)      
New Accounting Pronouncement or Change in Accounting Principle, Effect of Change on Net Income $ (106,000)      
Accounting Standards Update 2017-07 [Member]        
Operating Income (Loss), Total   156,000    
Other Nonoperating Income (Expense), Total   $ (156,000)