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Note 5 - Revenue from Contracts with Customers 1 (Details Textual) - USD ($)
 3 Months Ended 9 Months Ended
Oct. 04, 2020
Sep. 29, 2019
Oct. 04, 2020
Sep. 29, 2019
Dec. 31, 2019
Revenue, Remaining Performance Obligation, Amount $ 35,767,000   $ 35,767,000    
Contract with Customer, Asset, after Allowance for Credit Loss, Current, Total 1,739,000   1,739,000    
Contract with Customer, Liability, Total 5,681,000   5,681,000   $ 7,504,000
Contract with Customer, Liability, Revenue Recognized $ 2,837,000 $ 2,408,000 $ 6,680,000 $ 5,035,000  
Other Current Assets [Member]          
Contract with Customer, Asset, after Allowance for Credit Loss, Current, Total         906,000
Accrued Liabilities [Member]          
Contract with Customer, Liability, Current         5,769,000
Other Noncurrent Liabilities [Member]          
Contract with Customer, Liability, Noncurrent         $ 1,735,000