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Stock-Based Compensation - Schedule of Allocated Employee Stock-Based Compensation Expense (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jul. 01, 2022
Jul. 02, 2021
Jul. 01, 2022
Jul. 02, 2021
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]        
Total stock-based compensation expense $ 24,622 $ 28,035 $ 44,381 $ 62,688
Research and development        
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]        
Total stock-based compensation expense 9,549 13,667 18,448 26,063
Selling, general and administrative        
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]        
Total stock-based compensation expense $ 15,073 $ 14,368 $ 25,933 $ 36,625