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Note 5 - Revenue From Contracts With Customers 1 (Details Textual) - USD ($)
 3 Months Ended 9 Months Ended
Oct. 02, 2022
Oct. 03, 2021
Oct. 02, 2022
Oct. 03, 2021
Dec. 31, 2021
Revenue, Remaining Performance Obligation, Amount $ 85,385,000   $ 85,385,000    
Contract with Customer, Liability, Total 30,377,000   30,377,000   $ 19,888,000
Contract with Customer, Liability, Revenue Recognized from Contract Liabilities 3,237,000 $ 2,362,000 10,562,000 $ 3,828,000  
Other Current Assets [Member]          
Contract with Customer, Asset, after Allowance for Credit Loss, Current, Total 1,896,000   1,896,000   1,913,000
Accrued Liabilities [Member]          
Contract with Customer, Liability, Total 14,966,000   14,966,000    
Contract with Customer, Liability, Current         15,013,000
Other Noncurrent Liabilities [Member]          
Contract with Customer, Liability, Noncurrent $ 15,411,000   $ 15,411,000   $ 4,875,000