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Note 5 - Revenue From Contracts With Customers 1 (Details Textual) - USD ($)
 3 Months Ended 6 Months Ended
Jul. 04, 2021
Jul. 05, 2020
Jul. 04, 2021
Jul. 05, 2020
Dec. 31, 2020
Revenue, Remaining Performance Obligation, Amount $ 40,473,000   $ 40,473,000    
Contract with Customer, Liability, Total 19,474,000   19,474,000   $ 7,339,000
Contract with Customer, Liability, Revenue Recognized from Contract Liabilities 1,607,000 $ 2,929,000 3,609,000 $ 4,645,000  
Other Current Assets [Member]          
Contract with Customer, Asset, after Allowance for Credit Loss, Current, Total 1,087,000   1,087,000   1,240,000
Accrued Liabilities [Member]          
Contract with Customer, Liability, Current 10,769,000   10,769,000   6,816,000
Other Noncurrent Liabilities [Member]          
Contract with Customer, Liability, Noncurrent $ 8,705,000   $ 8,705,000   $ 523,000