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Revenues - Contract Assets and Liabilities (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jul. 01, 2022
Jul. 01, 2022
Jul. 02, 2021
Dec. 31, 2021
Contract assets:        
Contract assets $ 394 $ 394   $ 1,665
Contract liabilities:        
Current portion 7,513 7,513   7,814
Long-term portion 7,209 7,209   8,739
Total contract liabilities 14,722 14,722   $ 16,553
Contract revenue recognized, including revenue from deferred revenue beginning balance   4,500 $ 4,800  
Revenues recognized for performance obligations satisfied in previous periods 59,400 91,100    
Takeda And Ispen        
Contract liabilities:        
Remaining performance obligation $ 89,300 $ 89,300