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Collaboration Agreements And In-Licensing Arrangements - Collaboration Revenues under the Collaboration Agreement with Ipsen (Details) - USD ($)
$ in Thousands
 3 Months Ended
Apr. 02, 2021
Apr. 03, 2020
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]    
Total revenues $ 270,230 $ 226,915
Collaborative Arrangement with Ipsen    
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]    
Total revenues 33,806 29,036
License revenues    
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]    
Total revenues 27,528 20,879
License revenues | Collaborative Arrangement with Ipsen    
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]    
Total revenues 22,451 17,949
Collaboration services revenues    
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]    
Total revenues 15,490 12,156
Collaboration services revenues | Collaborative Arrangement with Ipsen    
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]    
Total revenues $ 11,355 $ 11,087