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Note 5 - Revenue From Contracts With Customers 1 (Details Textual) - USD ($)
3 Months Ended 9 Months Ended
Sep. 29, 2024
Oct. 01, 2023
Sep. 29, 2024
Oct. 01, 2023
Dec. 31, 2023
Revenue, Remaining Performance Obligation, Amount $ 93,583,000   $ 93,583,000    
Contract with Customer, Liability 51,426,000   51,426,000   $ 53,537,000
Contract with Customer, Liability, Revenue Recognized from Contract Liabilities 8,889,000 $ 6,604,000 22,925,000 $ 16,248,000  
Other Current Assets [Member]          
Contract with Customer, Asset, after Allowance for Credit Loss, Current 4,975,000   4,975,000   4,638,000
Accrued Liabilities [Member]          
Contract with Customer, Liability, Current 43,483,000   43,483,000   49,738,000
Other Noncurrent Liabilities [Member]          
Contract with Customer, Liability, Noncurrent $ 7,943,000   $ 7,943,000   $ 3,799,000