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Revenues - Contract Assets and Liabilities (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 30, 2022
Dec. 31, 2021
Jan. 01, 2021
Revenue from Contract with Customer [Abstract]      
Contract other long-term assets $ 1,659 $ 1,665  
Contract liabilities:      
Current portion 7,488 7,814  
Long-term portion 6,582 8,739  
Total contract liabilities 14,070 16,553  
Contract revenue recognized, including revenue from deferred revenue beginning balance 8,100 8,500 $ 9,200
Revenues recognized for performance obligations satisfied in previous periods 161,600 $ 148,700 $ 169,700
Transaction price allocated to our performance obligations $ 73,000