Note 6 - Restructuring - Activity Related to Restructuring Plans (Details) - USD ($) $ in Thousands		3 Months Ended		6 Months Ended
		Jul. 02, 2022	Jul. 03, 2021	Jul. 02, 2022	Jul. 03, 2021
Restructuring charges		$ 136	$ 204	$ 190	$ 380
Employee Severance [Member]
Accrued Restructuring	[1]			251	246
Restructuring charges	[1]			(97)	17
Costs paid or otherwise settled	[1]			(154)	(10)
Accrued Restructuring	[1]	0	253	0	253
Lease Termination and Fixed Assets [Member]
Accrued Restructuring				7,130	8,233
Restructuring charges				287	363
Costs paid or otherwise settled				(885)	(896)
Accrued Restructuring		6,532	7,700	6,532	7,700
Software Contracts and Engineering Tools [Member]
Accrued Restructuring	[2]			0	664
Restructuring charges	[2]			0	0
Costs paid or otherwise settled	[2]			0	(664)
Accrued Restructuring	[2]	0	0	0	0
Other Restructuring [Member]
Accrued Restructuring				7,381	9,143
Restructuring charges				190	380
Costs paid or otherwise settled				(1,039)	(1,570)
Accrued Restructuring		$ 6,532	$ 7,953	$ 6,532	$ 7,953

[1] Includes employee relocation and outplacement costs.

[2] Includes termination fees on the cancellation of certain contracts under previous restructuring plans