Note 6 - Restructuring - Activity Related to Restructuring Plans (Details) - USD ($) $ in Thousands		3 Months Ended
		Apr. 01, 2023	Apr. 02, 2022
Restructuring charges		$ 30	$ 54
Employee Severance [Member]
Accrued Restructuring	[1]	400	251
Restructuring charges	[1]	(1)	(97)
Costs paid or otherwise settled	[1]	(107)	(138)
Accrued Restructuring	[1]	292	16
Lease Termination and Fixed Assets [Member]
Accrued Restructuring		5,892	7,130
Restructuring charges		31	151
Costs paid or otherwise settled		(363)	(445)
Accrued Restructuring		5,560	6,836
Software Contracts and Engineering Tools [Member]
Accrued Restructuring	[2]	640	0
Restructuring charges	[2]	0	0
Costs paid or otherwise settled	[2]	(2)	0
Accrued Restructuring	[2]	638	0
Other Restructuring [Member]
Accrued Restructuring		6,932	7,381
Restructuring charges		30	54
Costs paid or otherwise settled		(472)	(583)
Accrued Restructuring		$ 6,490	$ 6,852

[1] Includes employee relocation and outplacement costs.

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