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Revenues - Changes in Contract Assets and Liabilities under Topic 606 (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 28, 2019
Jun. 29, 2018
Jun. 28, 2019
Jun. 29, 2018
Contract Assets - Current Portion        
Increases as a result of a change in transaction price and recognition of revenues as services are performed     $ 3,097  
Transfer to receivables from contract assets recognized at the beginning of the period     (947)  
Other     (2,150)  
Balance $ 0   0  
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   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     715  
Revenue recognized that was included in the contract liability balance at the beginning of the period     (1,847)  
Other     1,453  
Balance 321   321  
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     5,788  
Other     (5,053)  
Balance 16,632   16,632  
Revenues recognized for performance obligations satisfied in previous periods $ 36,100 $ 32,200 61,400 $ 103,800
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.