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Note 5 - Revenue From Contracts With Customers 1 (Details Textual) - USD ($)
 3 Months Ended
Mar. 31, 2024
Apr. 02, 2023
Dec. 31, 2023
Revenue, Remaining Performance Obligation, Amount $ 90,921,000    
Contract with Customer, Liability 51,732,000   $ 53,537,000
Contract with Customer, Liability, Revenue Recognized from Contract Liabilities 7,403,000 $ 3,812,000  
Accrued Liabilities [Member]      
Contract with Customer, Liability, Current 50,069,000   49,738,000
Other Noncurrent Liabilities [Member]      
Contract with Customer, Liability, Noncurrent $ 1,663,000   $ 3,799,000