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Stock-Based Compensation - Allocated Employee Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
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Oct. 01, 2021 | Oct. 02, 2020 | Oct. 01, 2021 | Oct. 02, 2020
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense | $ 33,966 | $ 55,655 | $ 96,654 | $ 85,791
Research and development |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense | 11,487 | 18,936 | 37,550 | 30,134
Selling, general and administrative |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense | $ 22,479 | $ 36,719 | $ 59,104 | $ 55,657

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