Note 6 - Restructuring - Activity Related to Restructuring Plans (Details) - USD ($) $ in Thousands		3 Months Ended		6 Months Ended
		Jul. 01, 2023	Jul. 02, 2022	Jul. 01, 2023	Jul. 02, 2022
Restructuring		$ (112)	$ 136	$ (82)	$ 190
Employee Severance [Member]
Accrued Restructuring	[1]			400	251
Restructuring				(135)	(97)
Costs paid or otherwise settled	[1]			(265)	(154)
Accrued Restructuring	[1]	0	0	0	0
Lease Termination and Fixed Assets [Member]
Accrued Restructuring				5,892	7,130
Restructuring				49	287
Costs paid or otherwise settled				(721)	(885)
Accrued Restructuring		5,220	6,532	5,220	6,532
Software Contracts and Engineering Tools [Member]
Accrued Restructuring	[2]			640	0
Restructuring				4	0
Costs paid or otherwise settled	[2]			(24)	0
Accrued Restructuring	[2]	620	0	620	0
Other Restructuring [Member]
Accrued Restructuring				6,932	7,381
Restructuring				(82)	190
Costs paid or otherwise settled				(1,010)	(1,039)
Accrued Restructuring		$ 5,840	$ 6,532	$ 5,840	$ 6,532

[1] Includes employee relocation and outplacement costs.

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