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Revenues - Changes in Contract Assets and Liabilities under Topic 606 (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 29, 2019
Mar. 30, 2018
Contract Assets - Current Portion    
Balance [1] $ 0  
Increases as a result of a change in transaction price and recognition of revenues as services are performed 10,222  
Transfer to receivables from contract assets recognized at the beginning of the period (543)  
Other (2,435)  
Balance 7,244  
Contract Assets - Long-term Portion    
Increases as a result of a change in transaction price and recognition of revenues as services are performed 1,450  
Other (1,450)  
Balance 0  
Contract Liabilities - Current Portion    
Balance [1] 0  
Increases as a result of the deferral of milestones achieved in period, excluding amounts recognized as revenue 0  
Revenue recognized that was included in the contract liability balance at the beginning of the period (1,313)  
Other 3,689  
Balance 2,376  
Contract Liabilities - Long-term Portion    
Balance [1] 15,897  
Increases as a result of the deferral of milestones achieved in period, excluding amounts recognized as revenue 0  
Other (7,574)  
Balance 8,323  
Revenues recognized for performance obligations satisfied in previous periods 25,300 $ 71,300
Balances Without the Adoption of Topic 606    
Contract Assets - Current Portion    
Balance 0  
Contract Assets - Long-term Portion    
Balance 0  
Contract Liabilities - Current Portion    
Balance 0  
Contract Liabilities - Long-term Portion    
Balance $ 15,897  
[1] The Condensed Consolidated Balance Sheet as of December 31, 2018 has been derived from the audited financial statements as of that date.