Note 6 - Restructuring - Activity Related to Restructuring Plans (Details) - USD ($) $ in Thousands		3 Months Ended
		Apr. 02, 2022	Apr. 03, 2021
Restructuring charges		$ 54	$ 176
Employee Severance [Member]
Accrued Restructuring	[1]	251	246
Restructuring charges	[1]	(97)	0
Costs paid or otherwise settled	[1]	(138)	(9)
Accrued Restructuring	[1]	16	237
Lease Termination and Fixed Assets [Member]
Accrued Restructuring		7,130	8,233
Restructuring charges		151	176
Costs paid or otherwise settled		(445)	(439)
Accrued Restructuring		6,836	7,970
Software Contracts and Engineering Tools [Member]
Accrued Restructuring	[2]	0	664
Restructuring charges	[2]	0	0
Costs paid or otherwise settled	[2]	0	(656)
Accrued Restructuring	[2]	0	8
Other Restructuring [Member]
Accrued Restructuring		7,381	9,143
Restructuring charges		54	176
Costs paid or otherwise settled		(583)	(1,104)
Accrued Restructuring		$ 6,852	$ 8,215

[1] Includes employee relocation and outplacement costs.

[2] Includes termination fees on the cancellation of certain contracts under the Q2 2019 Sales Plan