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Note 6 - Employee Benefit Plans (Tables)
12 Months Ended
Dec. 29, 2018
Notes Tables  
Schedule of Net Benefit Costs [Table Text Block]
(in thousands)
 
2018
   
2017
   
2016
 
Service cost
  $
925
    $
907
    $
868
 
Interest cost
   
207
     
198
     
245
 
Expected return on assets
   
(124
)    
(119
)    
(147
)
Net periodic costs
  $
1,008
    $
986
    $
966
 
Changes in Projected Benefit Obligations, Fair Value of Plan Assets, and Funded Status of Plan [Table Text Block]
(in thousands)
 
2018
   
2017
 
Change in projected benefit obligation:
               
Benefit obligation at beginning of year
  $
(30,512
)   $
(27,499
)
Service cost
   
(925
)    
(907
)
Interest cost
   
(207
)    
(198
)
Actuarial gain (loss)
   
708
     
(628
)
Participant contributions
   
(816
)    
(789
)
Benefits paid
   
1,079
     
743
 
Plan change
   
199
     
-
 
Foreign currency exchange adjustment
   
564
     
(1,234
)
Benefit obligation at end of year
   
(29,910
)    
(30,512
)
Change in plan assets:
               
Fair value of plan assets at beginning of year
   
17,746
     
16,077
 
Return on assets, net of actuarial loss
   
114
     
112
 
Employer contributions
   
816
     
789
 
Participant contributions
   
816
     
789
 
Benefits paid
   
(1,079
)    
(743
)
Foreign currency exchange adjustment
   
(325
)    
722
 
Fair value of plan assets at end of year
   
18,088
     
17,746
 
Net liability at end of year
  $
(11,822
)   $
(12,766
)
Schedule of Assumptions Used [Table Text Block]
   
2018
   
2017
 
Discount rate
   
0.9
%    
0.7
%
Compensation increase
   
1.8
%    
1.8
%
   
2018
   
2017
   
2016
 
Discount rate
   
0.7
%    
0.7
%    
1.0
%
Rate of return on Assets
   
0.7
%    
0.7
%    
1.0
%
Compensation increase
   
1.8
%    
1.5
%    
1.8
%
Schedule of Net Funded Status [Table Text Block]
(in thousands)
 
2018
   
2017
 
Accumulated benefit obligation at beginning of year
  $
3,148
    $
2,490
 
Interest cost
   
105
     
95
 
Actuarial (gain) loss
   
(216
)    
677
 
Benefits paid
   
(157
)    
(114
)
Accumulated benefit obligation at end of year
   
2,880
     
3,148
 
Plan assets at end of year
   
-
     
-
 
Funded status
  $
(2,880
)   $
(3,148
)
Share-based Compensation, Stock Options, Activity [Table Text Block]
   
2018
   
2017
   
2016
 
           
Wt. Avg.
           
Wt. Avg.
           
Wt. Avg.
 
(in thousands, except per share data)
 
Shares
   
Ex. Price
   
Shares
   
Ex. Price
   
Shares
   
Ex. Price
 
Outstanding, beginning of year
   
472
    $
10.20
     
1,641
    $
10.79
     
1,965
    $
11.25
 
Exercised
   
(67
)   $
10.10
     
(1,164
)   $
10.98
     
(101
)   $
7.89
 
Cancelled
   
-
    $
-
     
(5
)   $
20.73
     
(223
)   $
16.19
 
Outstanding, end of year
   
405
    $
10.22
     
472
    $
10.20
     
1,641
    $
10.79
 
                                                 
Options exercisable at year end
   
405
    $
10.22
     
469
    $
10.20
     
1,537
    $
10.85
 
Schedule of Share-based Compensation, Shares Authorized under Stock Option Plans, by Exercise Price Range [Table Text Block]
             
Options Outstanding
   
Options Exercisable
 
                     
Approximate
                         
                     
Wt. Avg.
                         
Range of
   
Number
   
Remaining
   
Wt. Avg.
   
Number
   
Wt. Avg.
 
Exercise Prices
   
Outstanding
   
Life (Years)
   
Ex. Price
   
Exercisable
   
Ex. Price
 
$
7.32
-
$
9.44
     
225
     
4.0
    $
9.35
     
225
    $
9.35
 
$
9.45
-
$
10.54
     
10
     
3.0
    $
10.54
     
10
    $
10.54
 
$
10.55
-
$
15.89
     
170
     
3.2
    $
11.34
     
170
    $
11.34
 
 
 
 
 
 
     
405
     
3.6
    $
10.22
     
405
    $
10.22
 
Schedule of Share-based Compensation, Restricted Stock Units Award Activity [Table Text Block]
   
2018
   
2017
   
2016
 
           
Wt. Avg.
           
Wt. Avg.
           
Wt. Avg.
 
(in thousands, except per share data)
 
Units
   
Fair Value
   
Units
   
Fair Value
   
Units
   
Fair Value
 
Outstanding, beginning of year
   
981
    $
12.50
     
1,083
    $
10.50
     
1,078
    $
9.93
 
Granted
   
822
    $
23.70
     
353
    $
15.95
     
471
    $
11.25
 
Released
   
(500
)   $
13.10
     
(409
)   $
10.26
     
(409
)   $
9.90
 
Cancelled
   
(38
)   $
14.67
     
(46
)   $
11.85
     
(57
)   $
10.25
 
Outstanding, end of year
   
1,265
    $
19.48
     
981
    $
12.50
     
1,083
    $
10.50
 
Schedule of Share-based Compensation, Equity-based Performance Stock Units [Table Text Block] <div style="display: inline; font-family: times new roman; font-size: 10pt"><table border="0" cellpadding="0" cellspacing="0" style="; text-indent: 0px; font-family: "Times New Roman", Times, serif; font-size: 10pt; margin-right: 20%; margin-left: 36pt; min-; min-width: 700px;"> <tr style="vertical-align: bottom;"> <td style="width: 30%; text-align: center; border-bottom-color: rgb(0, 0, 0); border-bottom-width: thin; border-bottom-style: solid;">Year Granted</td> <td style="width: 1%;"> </td> <td style="width: 1%;"> </td> <td colspan="3" style="width: 151%; text-align: center; border-bottom-color: rgb(0, 0, 0); border-bottom-width: 1px; border-bottom-style: solid;">Range of Awards</td> <td style="width: 1%; padding-bottom: 1px;"> </td> <td style="width: 1%;"> </td> <td colspan="1" style="width: 34%; text-align: center; border-bottom-color: rgb(0, 0, 0); border-bottom-width: 1px; border-bottom-style: solid;">Performance Criteria Period (years)</td> <td style="width: 1%; padding-bottom: 1px;"> </td> </tr> <tr style="vertical-align: bottom; background-color: rgb(204, 238, 255);"> <td style="width: 30%; text-align: center;">2018</td> <td style="width: 1%;"> </td> <td style="width: 1%;"> </td> <td style="width: 15%; text-align: right;"><div style="display: inline; font-style: italic; font-weight: inherit; font-style: normal;">25%</div></td> <td style="width: 1%; text-align: center;"><div style="display: inline; font-style: italic; font-weight: inherit; font-style: normal;">-</div></td> <td style="width: 15%;"><div style="display: inline; font-style: italic; font-weight: inherit; font-style: normal;">200%</div></td> <td nowrap="nowrap" style="width: 1%; margin-left: 0pt;"> </td> <td style="width: 1%;"> </td> <td style="width: 34%; text-align: center;"><div style="display: inline; font-style: italic; font-weight: inherit; font-style: normal;">3</div></td> <td nowrap="nowrap" style="width: 1%; margin-left: 0pt;"> </td> </tr> <tr style="vertical-align: bottom; background-color: rgb(255, 255, 255);"> <td style="width: 30%; text-align: center;">2017</td> <td style="width: 1%;"> </td> <td style="width: 1%;"> </td> <td style="width: 15%; text-align: right;"><div style="display: inline; font-style: italic; font-weight: inherit; font-style: normal;">25%</div></td> <td style="width: 1%; text-align: center;"><div style="display: inline; font-style: italic; font-weight: inherit; font-style: normal;">-</div></td> <td style="width: 15%;"><div style="display: inline; font-style: italic; font-weight: inherit; font-style: normal;">200%</div></td> <td nowrap="nowrap" style="width: 1%; margin-left: 0pt;"> </td> <td style="width: 1%;"> </td> <td style="width: 34%; text-align: center;"><div style="display: inline; font-style: italic; font-weight: inherit; font-style: normal;">3</div></td> <td nowrap="nowrap" style="width: 1%; margin-left: 0pt;"> </td> </tr> <tr style="vertical-align: bottom; background-color: rgb(204, 238, 255);"> <td style="width: 30%; text-align: center;">2016</td> <td style="width: 1%;"> </td> <td style="width: 1%;"> </td> <td style="width: 15%; text-align: right;"><div style="display: inline; font-style: italic; font-weight: inherit; font-style: normal;">25%</div></td> <td style="width: 1%; text-align: center;"><div style="display: inline; font-style: italic; font-weight: inherit; font-style: normal;">-</div></td> <td style="width: 15%;"><div style="display: inline; font-style: italic; font-weight: inherit; font-style: normal;">200%</div></td> <td nowrap="nowrap" style="width: 1%; margin-left: 0pt;"> </td> <td style="width: 1%;"> </td> <td style="width: 34%; text-align: center;"><div style="display: inline; font-style: italic; font-weight: inherit; font-style: normal;">3</div></td> <td nowrap="nowrap" style="width: 1%; margin-left: 0pt;"> </td> </tr> <tr style="vertical-align: bottom; background-color: rgb(255, 255, 255);"> <td style="width: 30%; text-align: center;">2015</td> <td style="width: 1%;"> </td> <td style="width: 1%;"> </td> <td style="width: 15%; text-align: right;"><div style="display: inline; font-style: italic; font-weight: inherit; font-style: normal;">25%</div></td> <td style="width: 1%; text-align: center;"><div style="display: inline; font-style: italic; font-weight: inherit; font-style: normal;">-</div></td> <td style="width: 15%;"><div style="display: inline; font-style: italic; font-weight: inherit; font-style: normal;">200%</div></td> <td nowrap="nowrap" style="width: 1%; margin-left: 0pt;"> </td> <td style="width: 1%;"> </td> <td style="width: 34%; text-align: center;"><div style="display: inline; font-style: italic; font-weight: inherit; font-style: normal;">2</div></td> <td nowrap="nowrap" style="width: 1%; margin-left: 0pt;"> </td> </tr> </table></div>
Schedule of Nonvested Performance-based Units Activity [Table Text Block]
   
2018
   
2017
   
2016
 
           
Wt. Avg.
           
Wt. Avg.
           
Wt. Avg.
 
(in thousands, except per share data)
 
Units
   
Fair Value
   
Units
   
Fair Value
   
Units
   
Fair Value
 
Outstanding, beginning of year
   
334
    $
14.31
     
403
    $
11.04
     
376
    $
10.80
 
Granted
   
89
    $
24.32
     
185
    $
17.60
     
222
    $
11.38
 
Released
   
(41
)   $
9.92
     
(186
)   $
11.35
     
(172
)   $
11.27
 
Cancelled
   
(42
)   $
10.69
     
(68
)   $
11.94
     
(23
)   $
8.75
 
Outstanding, end of year
   
340
    $
17.89
     
334
    $
14.31
     
403
    $
11.04
 
Schedule of Share-based Payment Award, Employee Stock Purchase Plan, Valuation Assumptions [Table Text Block]
Employee Stock Purchase Plan
 
2018
   
2017
   
2016
 
Dividend yield
 
1.1 %
   
1.4 %
   
2.0 %
 
Expected volatility
 
39.0 %
   
33.3 %
   
31.2 %
 
Risk-free interest rate
 
1.7 %
   
0.7 %
   
0.3 %
 
Expected term (years)
 
0.5
   
0.5
   
0.5
 
Weighted-average grant date fair value per share
 
$ 5.90
   
$ 4.63
   
$ 2.82
 
Restricted Stock Units
 
2018
   
2017
   
2016
 
Dividend yield
 
1.0 %
   
1.4 %
   
2.0 %
 
Schedule of Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Table Text Block]
(in thousands)
 
2018
   
2017
   
2016
 
Cost of sales
  $
546
    $
423
    $
398
 
Research and development
   
1,717
     
1,054
     
1,292
 
Selling, general and administrative
   
7,790
     
5,530
     
5,453
 
Share-based compensation of continuing operations
   
10,053
     
7,007
     
7,143
 
Income tax benefit
   
(993
)    
(530
)    
(269
)
Total share-based compensation, net of tax
  $
9,060
    $
6,477
    $
6,874