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Note 5 - Revenue From Contracts With Customers 1 (Details Textual) - USD ($)
 3 Months Ended 6 Months Ended
Jul. 02, 2023
Jul. 03, 2022
Jul. 02, 2023
Jul. 03, 2022
Dec. 31, 2022
Revenue, Remaining Performance Obligation, Amount $ 92,787,000   $ 92,787,000    
Contract with Customer, Liability 62,110,000   62,110,000   $ 40,391,000
Contract with Customer, Liability, Revenue Recognized from Contract Liabilities 5,963,000 $ 4,464,000 10,168,000 $ 7,640,000  
Other Current Assets [Member]          
Contract with Customer, Asset, after Allowance for Credit Loss, Current 5,090,000   5,090,000   2,393,000
Accrued Liabilities [Member]          
Contract with Customer, Liability, Current 48,579,000   48,579,000   27,909,000
Other Noncurrent Liabilities [Member]          
Contract with Customer, Liability, Noncurrent $ 13,531,000   $ 13,531,000   $ 12,482,000