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Revenues - Contract Assets and Liabilities (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jul. 02, 2021	Jul. 03, 2020	Jul. 02, 2021	Jul. 03, 2020	Jan. 01, 2021
Contract assets
Current portion	$ 9,749		$ 9,749		$ 0
Long-term portion	948		948		0
Total contract assets	10,697		10,697		0
Contract liabilities:
Current portion	6,314		6,314		1,790
Long-term portion	8,577		8,577		3,755
Total contract liabilities	14,891		14,891		$ 5,545
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Contract revenue recognized, including revenue from deferred revenue beginning balance			4,800	$ 3,400
Revenues recognized for performance obligations satisfied in previous periods	40,600	$ 62,000	67,800	$ 82,200
Remaining performance obligation	86,900		86,900
Collaborative Arrangement with Ipsen
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Milestone receivable upon achievement of development achievement	12,500		12,500
Collaborative arrangement, revenue recognized upon development milestone achievement	11,800
Remaining performance obligation	$ 46,200		$ 46,200

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