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Revenues - Contract Assets and Liabilities (Details) - USD ($)
 3 Months Ended
Apr. 03, 2020
Mar. 29, 2019
Jan. 03, 2020
Revenue from Contract with Customer [Abstract]      
Contract assets $ 0   $ 1,100,000
Contract with Customer, Liability 15,400,000    
Contract liabilities 14,133,000   6,596,000
Contract with Customer, Liability, Current 1,300,000   $ 0
Reduction related to a milestone 10,000,000.0    
Amount of revenues recognized included in the beginning contract liability balance 1,600,000 $ 1,300,000  
Revenues recognized for performance obligations satisfied in previous periods 18,800,000 $ 25,300,000  
Remaining performance obligation $ 65,100,000