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Stock-Based Compensation - Schedule of Allocated Employee Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
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Sep. 30, 2022 | Oct. 01, 2021 | Sep. 30, 2022 | Oct. 01, 2021
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense | $ 37,337 | $ 33,966 | $ 81,718 | $ 96,654
Research and development |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense | 16,438 | 11,487 | 34,886 | 37,550
Selling, general and administrative |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense | $ 20,899 | $ 22,479 | $ 46,832 | $ 59,104

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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