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Revenues - Contract Assets and Liabilities (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 29, 2023
Sep. 30, 2022
Sep. 29, 2023
Sep. 30, 2022
Dec. 30, 2022
Revenue from Contract with Customer [Abstract]          
Contract assets $ 635   $ 635   $ 1,659
Contract liabilities:          
Current portion 6,974   6,974   7,488
Long-term portion 6,371   6,371   6,582
Total contract liabilities 13,345   13,345   $ 14,070
Contract revenue recognized, including revenue from deferred revenue beginning balance     4,900 $ 6,600  
Revenues recognized for performance obligations satisfied in previous periods 41,100 $ 33,900 133,000 $ 125,000  
Remaining performance obligation $ 63,800   $ 63,800