Condensed Consolidated Balance Sheets (Current Period Unaudited) (Parentheticals) - $ / shares	Jul. 01, 2023	Dec. 31, 2022
Preferred stock par value (in dollars per share)	$ 1.00	$ 1.00
Preferred stock, authorized (in shares)	5,000,000	5,000,000
Preferred stock, issued (in shares)	0	0
Preferred stock, outstanding (in shares)	0	0
Common stock, par value (in dollars per share)	$ 0.05	$ 0.05
Common stock, authorized (in shares)	40,000,000	40,000,000
Common stock, issued (in shares)	17,516,469	17,287,967
Common stock, outstanding (in shares)	7,934,088	9,285,318
Treasury stock, shares (in shares)	9,582,381	8,002,649