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Note 5 - Revenue From Contracts With Customers 1 (Details Textual) - USD ($)
 3 Months Ended 9 Months Ended
Oct. 01, 2023
Oct. 02, 2022
Oct. 01, 2023
Oct. 02, 2022
Dec. 31, 2022
Revenue, Remaining Performance Obligation, Amount $ 88,455,000   $ 88,455,000    
Contract with Customer, Liability 57,554,000   57,554,000   $ 40,391,000
Contract with Customer, Liability, Revenue Recognized from Contract Liabilities 6,604,000 $ 3,237,000 16,248,000 $ 10,562,000  
Other Current Assets [Member]          
Contract with Customer, Asset, after Allowance for Credit Loss, Current 4,292,000   4,292,000   2,393,000
Accrued Liabilities [Member]          
Contract with Customer, Liability, Current 49,207,000   49,207,000   27,909,000
Other Noncurrent Liabilities [Member]          
Contract with Customer, Liability, Noncurrent $ 8,347,000   $ 8,347,000   $ 12,482,000