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Note 5 - Revenue From Contracts With Customers 1 (Details Textual) - USD ($)
 3 Months Ended 12 Months Ended
Apr. 02, 2023
Dec. 31, 2022
Revenue, Remaining Performance Obligation, Amount $ 105,882,000  
Contract with Customer, Liability 47,851,000 $ 40,391,000
Contract with Customer, Liability, Revenue Recognized from Contract Liabilities 3,812,000 3,317,000
Other Current Assets [Member]    
Contract with Customer, Asset, after Allowance for Credit Loss, Current 3,268,000 2,393,000
Accrued Liabilities [Member]    
Contract with Customer, Liability, Current 30,336,000 27,909,000
Other Noncurrent Liabilities [Member]    
Contract with Customer, Liability, Noncurrent $ 17,515,000 $ 12,482,000