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Note 5 - Revenue from Contracts with Customers 1 (Details Textual) - USD ($)
3 Months Ended 9 Months Ended
Sep. 29, 2019
Sep. 30, 2018
Sep. 29, 2019
Sep. 30, 2018
Dec. 31, 2018
Revenue, Remaining Performance Obligation, Amount $ 24,263,000   $ 24,263,000    
Contract with Customer, Liability, Revenue Recognized 2,408,000 $ 543,000 5,035,000 $ 1,614,000  
Other Current Assets [Member]          
Contract with Customer, Asset, Net, Current, Total 1,214,000   1,214,000   $ 839,000
Accrued Liabilities [Member]          
Contract with Customer, Liability, Current $ 9,616,000   $ 9,616,000   $ 8,369,000