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Stock-Based Compensation - Allocated Employee Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
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Jul. 02, 2021 | Jul. 03, 2020 | Jul. 02, 2021 | Jul. 03, 2020
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense | $ 28,035 | $ 16,154 | $ 62,688 | $ 30,136
Research and development |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense | 13,667 | 6,112 | 26,063 | 11,198
Selling, general and administrative |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense | $ 14,368 | $ 10,042 | $ 36,625 | $ 18,938

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