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Note 5 - Revenue from Contracts with Customers 1 (Details Textual) - USD ($)
 3 Months Ended
Apr. 05, 2020
Mar. 31, 2019
Dec. 31, 2019
Revenue, Remaining Performance Obligation, Amount $ 19,068,000    
Contract with Customer, Liability, Total 7,176,000   $ 7,504,000
Contract with Customer, Liability, Revenue Recognized 2,312,000 $ 1,344,000  
Other Current Assets [Member]      
Contract with Customer, Asset, after Allowance for Credit Loss, Current, Total 936,000   906,000
Accrued Liabilities [Member]      
Contract with Customer, Liability, Current 5,811,000   5,769,000
Other Noncurrent Liabilities [Member]      
Contract with Customer, Liability, Noncurrent $ 1,365,000   $ 1,735,000