Consolidated Balance Sheets (Current Period Unaudited) (Parentheticals) - $ / shares	Jul. 01, 2017	Dec. 31, 2016
Preferred stock par value (in dollars per share)	$ 1	$ 1
Preferred stock, shares authorized (in shares)	5,000,000	5,000,000
Preferred stock, shares issued (in shares)	0	0
Preferred stock, shares outstanding (in shares)	0	0
Common stock, par value (in dollars per share)	$ 0.05	$ 0.05
Common stock, shares authorized (in shares)	40,000,000	40,000,000
Common stock, shares issued (in shares)	14,785,688	14,716,940
Common stock, shares outstanding (in shares)	11,962,516	11,953,080
Treasury stock, shares (in shares)	2,823,172	2,763,860