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Collaboration Agreements - Ipsen Collaboration (Details) - USD ($)
$ in Thousands
Sep. 27, 2019
Dec. 28, 2018
 [1]
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]    
Net contract liability $ 15,399 $ 15,897
Collaborative Arrangement with Ipsen    
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]    
Remaining performance obligation 47,100  
Net contract liability $ 7,200  
[1]
The Condensed Consolidated Balance Sheet as of December 31, 2018 has been derived from the audited financial statements as of that date.