Note 10 - Income Taxes - Components of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 30, 2023	Dec. 31, 2022
Inventory, receivable and warranty reserves	$ 10,931	$ 13,599
Net operating loss carryforwards	36,602	39,545
Tax credit carryforwards	34,637	29,646
Capitalized R&D	30,485	19,819
Accrued employee benefits	3,348	4,416
Stock-based compensation	3,227	2,990
Lease liabilities	3,222	3,965
Uniform capitalization	1,564	0
Other	0	472
Gross deferred tax assets	124,016	114,452
Less valuation allowance	(99,888)	(89,234)
Total deferred tax assets	24,128	25,218
Intangible assets and other acquisition basis differences	34,076	38,921
Operating lease right-of-use assets	2,854	3,573
Unremitted earnings of foreign subsidiaries	4,106	153
Other	50	0
Total deferred tax liabilities	41,086	42,647
Net deferred tax liabilities	(16,958)	(17,429)
Other assets (long-term)	6,196	3,930
Long-term deferred income tax liabilities	$ (23,154)	$ (21,359)