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Note 4 - Accounts Receivable, Transit Accounts Receivable and Transit Accounts Payable (Tables)
 3 Months Ended
Apr. 01, 2017
Notes Tables  
Schedule of Accounts, Notes, Loans and Financing Receivable [Table Text Block]
   
April 1,
2017
    
December 31,
2016
  
Billed
   $
33,233
     $
34,463
  
Accrued and unbilled
    
7,013
      
6,894
  
Work-in-progress
    
5,443
      
5,215
  
Allowance for sales discounts and doubtful accounts
    
(1,345
)
    
(1,402
)
                 
Accounts receivable, net
   $
44,344
     $
45,170