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Note 5 - Revenue From Contracts With Customers 1 (Details Textual) - USD ($)
3 Months Ended 6 Months Ended
Jun. 30, 2024
Jul. 02, 2023
Jun. 30, 2024
Jul. 02, 2023
Dec. 31, 2023
Revenue, Remaining Performance Obligation, Amount $ 94,303,000   $ 94,303,000    
Contract with Customer, Liability 52,849,000   52,849,000   $ 53,537,000
Contract with Customer, Liability, Revenue Recognized from Contract Liabilities 9,562,000 $ 5,963,000 16,718,000 $ 10,168,000  
Other Current Assets [Member]          
Contract with Customer, Asset, after Allowance for Credit Loss, Current 4,149,000   4,149,000   4,638,000
Accrued Liabilities [Member]          
Contract with Customer, Liability, Current 43,360,000   43,360,000   49,738,000
Other Noncurrent Liabilities [Member]          
Contract with Customer, Liability, Noncurrent $ 9,489,000   $ 9,489,000   $ 3,799,000