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Stock-based Compensation and Other Stock Plans - Employee Stock Purchase Plan Narrative (Details) - Employee Stock - USD ($)
3 Months Ended 9 Months Ended
Oct. 02, 2021
Sep. 26, 2020
Oct. 02, 2021
Sep. 26, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Shares issued in period (in shares)     82,286 25,425
Shares reserved for future issuance (in shares) 597,275   597,275  
Participant contributions held $ 1,800,000   $ 1,800,000  
Compensation expense $ 0 $ 200,000 $ 9,600,000 $ 100,000