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Note 5 - Revenue From Contracts With Customers 1 (Details Textual) - USD ($)
 3 Months Ended 9 Months Ended
Oct. 03, 2021
Oct. 04, 2020
Oct. 03, 2021
Oct. 04, 2020
Dec. 31, 2020
Revenue, Remaining Performance Obligation, Amount $ 39,393,000   $ 39,393,000    
Contract with Customer, Liability, Total 18,905,000   18,905,000   $ 7,339,000
Contract with Customer, Liability, Revenue Recognized 2,362,000 $ 2,837,000 3,828,000 $ 6,680,000  
Other Current Assets [Member]          
Contract with Customer, Asset, after Allowance for Credit Loss, Current, Total 1,402,000   1,402,000   1,240,000
Accrued Liabilities [Member]          
Contract with Customer, Liability, Current 10,200,000   10,200,000   6,816,000
Other Noncurrent Liabilities [Member]          
Contract with Customer, Liability, Noncurrent $ 8,705,000   $ 8,705,000   $ 523,000