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Note 11 - Shareholders' Equity (Details Textual) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2016
Jan. 02, 2016
Dec. 27, 2014
Apr. 29, 2016
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized 400,000      
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Intrinsic Value $ 13.3 $ 5.0 $ 9.6  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested in Period, Fair Value 10.7 8.1 7.6  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Share-based Liabilities Paid 0.6 0.4 0.3  
Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Not yet Recognized $ 17.0      
Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Not yet Recognized, Period for Recognition 1 year 328 days      
Allocated Share-based Compensation Expense $ 12.8 10.7 9.4  
Employee Service Share-based Compensation, Tax Benefit from Compensation Expense 4.4 3.7 3.3  
Accumulated Other Comprehensive Income (Loss), Pension and Other Post-retirement Benefit Plans, Liability Adjustment Tax $ 1.1 $ 0.7 $ 12.6  
Stock Repurchase Program, Number of Shares Authorized to be Repurchased       1,000,000
Stock Repurchase Program, Remaining Number of Shares Authorized to be Repurchased       650,000
Stock Repurchased During Period, Shares   350,000    
Employee Stock Option [Member] | Granted Prior to 2002 [Member]        
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period 5 years      
Share-based Compensation Arrangement by Share-based Payment Award, Award Exercise Period 10 years      
Employee Stock Option [Member] | Granted in 2002 through February 2005 [Member]        
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period 5 years      
Share-based Compensation Arrangement by Share-based Payment Award, Award Exercise Period 10 years      
Employee Stock Option [Member] | Granted After February 2005 [Member] | Maximum [Member]        
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period 5 years      
Share-based Compensation Arrangement by Share-based Payment Award, Award Exercise Period 10 years      
Employee Stock Option [Member] | Granted After February 2005 [Member] | Minimum [Member]        
Share-based Compensation Arrangement by Share-based Payment Award, Award Exercise Period 7 years      
Restricted Stock [Member] | Maximum [Member]        
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period 4 years      
Restricted Stock [Member] | Minimum [Member]        
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period 3 years