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Note 5 - Revenue from Contracts with Customers 1 (Details Textual) - USD ($)	3 Months Ended		6 Months Ended
	Jul. 05, 2020	Jun. 30, 2019	Jul. 05, 2020	Jun. 30, 2019	Dec. 31, 2019
Revenue, Remaining Performance Obligation, Amount	$ 29,074,000		$ 29,074,000
Contract with Customer, Liability, Total					$ 7,504,000
Contract with Customer, Liability, Revenue Recognized	2,929,000	$ 2,190,000	4,645,000	$ 3,234,000
Other Current Assets [Member]
Contract with Customer, Asset, after Allowance for Credit Loss, Current, Total	1,389,000		1,389,000		906,000
Accrued Liabilities [Member]
Contract with Customer, Liability, Current	$ 6,102,000		$ 6,102,000		5,769,000
Other Noncurrent Liabilities [Member]
Contract with Customer, Liability, Noncurrent					$ 1,735,000

X

- Definition

Amount, after allowance for credit loss, of right to consideration in exchange for good or service transferred to customer when right is conditioned on something other than passage of time, classified as current.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 606
-SubTopic 10
-Section 45
-Paragraph 1
-URI http://asc.fasb.org/extlink&oid=121556615&loc=SL49130531-203044

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X

- Definition

Amount of obligation to transfer good or service to customer for which consideration has been received or is receivable.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
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Amount of obligation to transfer good or service to customer for which consideration has been received or is receivable, classified as current.

+ References

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Amount of obligation to transfer good or service to customer for which consideration has been received or is receivable, classified as noncurrent.

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X

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Amount of transaction price allocated to performance obligation that has not been recognized as revenue.

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