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Collaboration Agreements - Collaboration Revenues under the Collaboration Agreement with Ipsen (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jul. 03, 2020
Jun. 28, 2019
Jul. 03, 2020
Jun. 28, 2019
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]        
Revenue from contract with customer $ 259,479 $ 240,275 $ 486,394 $ 455,762
Revenues 259,479 240,275 486,394 455,762
Collaborative Arrangement with Ipsen        
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]        
Revenues 52,917 22,249 81,953 44,117
License revenues        
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]        
Revenue from contract with customer 59,234 37,742 80,113 63,306
License revenues | Collaborative Arrangement with Ipsen        
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]        
Revenue from contract with customer 33,597 14,946 51,546 28,909
Collaboration services revenues        
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]        
Revenue not from contract with customer 21,515 8,858 33,671 19,200
Collaboration services revenues | Collaborative Arrangement with Ipsen        
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]        
Revenue not from contract with customer $ 19,320 $ 7,303 $ 30,407 $ 15,208