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Note 6 - Employee Benefit Plans (Tables)
12 Months Ended
Dec. 28, 2019
Notes Tables  
Schedule of Net Benefit Costs [Table Text Block]
(in thousands)
 
2019
   
2018
   
2017
 
Service cost
  $
920
    $
925
    $
907
 
Interest cost
   
267
     
207
     
198
 
Expected return on assets
   
(168
)    
(124
)    
(119
)
Net periodic costs
  $
1,019
    $
1,008
    $
986
 
Changes in Projected Benefit Obligations, Fair Value of Plan Assets, and Funded Status of Plan [Table Text Block]
(in thousands)
 
2019
   
2018
 
Change in projected benefit obligation:
               
Benefit obligation at beginning of year
  $
(29,910
)   $
(30,512
)
Service cost
   
(920
)    
(925
)
Interest cost
   
(267
)    
(207
)
Actuarial gain (loss)
   
(1,456
)    
708
 
Participant contributions
   
(1,434
)    
(816
)
Benefits paid
   
2,313
     
1,079
 
Plan change
   
-
     
199
 
Foreign currency exchange adjustment
   
(567
)    
564
 
Benefit obligation at end of year
   
(32,241
)    
(29,910
)
Change in plan assets:
               
Fair value of plan assets at beginning of year
   
18,088
     
17,746
 
Return on assets, net of actuarial loss
   
281
     
114
 
Employer contributions
   
882
     
816
 
Participant contributions
   
1,434
     
816
 
Benefits paid
   
(2,313
)    
(1,079
)
Foreign currency exchange adjustment
   
333
     
(325
)
Fair value of plan assets at end of year
   
18,705
     
18,088
 
Net liability at end of year
  $
(13,536
)   $
(11,822
)
Defined Benefit Plan, Assumptions [Table Text Block]
   
2019
   
2018
 
Discount rate
   
0.2
%    
0.9
%
Compensation increase
   
1.1
%    
1.8
%
   
2019
   
2018
   
2017
 
Discount rate
   
0.9
%    
0.7
%    
0.7
%
Rate of return on assets
   
0.9
%    
0.7
%    
0.7
%
Compensation increase
   
1.8
%    
1.8
%    
1.5
%
Schedule of Net Funded Status [Table Text Block]
(in thousands)
 
2019
   
2018
 
Accumulated benefit obligation at beginning of year
  $
2,880
    $
3,148
 
Interest cost
   
115
     
105
 
Actuarial gain
   
(258
)    
(216
)
Benefits paid
   
(166
)    
(157
)
Accumulated benefit obligation at end of year
   
2,571
     
2,880
 
Plan assets at end of year
   
-
     
-
 
Funded status
  $
(2,571
)   $
(2,880
)
Share-based Payment Arrangement, Option, Activity [Table Text Block]
   
2019
   
2018
   
2017
 
           
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
   
405
    $
10.22
     
472
    $
10.20
     
1,641
    $
10.79
 
Exercised
   
(42
)   $
9.82
     
(67
)   $
10.10
     
(1,164
)   $
10.98
 
Cancelled
   
-
    $
-
     
-
    $
-
     
(5
)   $
20.73
 
Outstanding, end of year
   
363
    $
10.27
     
405
    $
10.22
     
472
    $
10.20
 
                                                 
Options exercisable at year end
   
363
    $
10.27
     
405
    $
10.22
     
469
    $
10.20
 
Share-based Payment Arrangement, Option, 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
 
$
9.44
-
$
10.54
     
200
     
3.2
    $
9.50
     
200
    $
9.50
 
$
10.55
-
$
10.58
     
126
     
2.2
    $
10.58
     
126
    $
10.58
 
$
10.59
-
$
15.89
     
37
     
2.3
    $
13.32
     
37
    $
13.23
 
 
 
 
 
 
     
363
     
2.8
    $
10.27
     
363
    $
10.27
 
Share-based Payment Arrangement, Restricted Stock Unit, Activity [Table Text Block]
   
2019
   
2018
   
2017
 
           
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
   
1,265
    $
19.48
     
981
    $
12.50
     
1,083
    $
10.50
 
Granted
   
694
    $
14.32
     
822
    $
23.70
     
353
    $
15.95
 
Released
   
(563
)   $
19.08
     
(500
)   $
13.10
     
(409
)   $
10.26
 
Cancelled
   
(68
)   $
17.60
     
(38
)   $
14.67
     
(46
)   $
11.85
 
Outstanding, end of year
   
1,328
    $
17.05
     
1,265
    $
19.48
     
981
    $
12.50
 
Schedule of Share-based Compensation, Equity-based Performance Stock Units [Table Text Block]
Year Granted  
Range of Awards
   
Performance Criteria Period
(in years)
 
2019
   
25%
-
200%
     
3
 
2018
   
25%
-
200%
     
3
 
2017
   
25%
-
200%
     
3
 
2016
   
25%
-
200%
     
3
 
Schedule of Nonvested Performance-based Units Activity [Table Text Block]
   
2019
   
2018
   
2017
 
           
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
   
340
    $
17.89
     
334
    $
14.31
     
403
    $
11.04
 
Granted
   
167
    $
14.11
     
89
    $
24.32
     
185
    $
17.60
 
Released
   
(36
)   $
11.35
     
(41
)   $
9.92
     
(186
)   $
11.35
 
Cancelled
   
(107
)   $
11.35
     
(42
)   $
10.69
     
(68
)   $
11.94
 
Outstanding, end of year
   
364
    $
18.72
     
340
    $
17.89
     
334
    $
14.31
 
Schedule of Share-based Payment Award, Employee Stock Purchase Plan, Valuation Assumptions [Table Text Block]
Employee Stock Purchase Plan
 
2019
   
2018
   
2017
 
Dividend yield
   
1.3
%    
1.1
%    
1.4
%
Expected volatility
   
46.4
%    
39.0
%    
33.3
%
Risk-free interest rate
   
2.2
%    
1.7
%    
0.7
%
Expected term (years)
   
0.5
     
0.5
     
0.5
 
Weighted-average grant date fair value per share
  $
5.35
    $
5.90
    $
4.63
 
Restricted Stock Units
 
2019
   
2018
   
2017
 
Dividend yield
   
1.6
%    
1.0
%    
1.4
%
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Table Text Block]
(in thousands)
 
2019
   
2018
   
2017
 
Cost of sales
  $
736
    $
546
    $
423
 
Research and development
   
2,994
     
1,717
     
1,054
 
Selling, general and administrative
   
10,418
     
7,790
     
5,530
 
Share-based compensation of continuing operations
   
14,148
     
10,053
     
7,007
 
Income tax benefit
   
(587
)    
(993
)    
(530
)
Total share-based compensation, net of tax
  $
13,561
    $
9,060
    $
6,477