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Revenues - Contract Assets and Liabilities (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 29, 2023 | Dec. 30, 2022 | Dec. 31, 2021
Revenue from Contract with Customer [Abstract] |  |  |
Contract assets | $ 1,321 | $ 1,659 |
Contract liabilities: |  |  |
Current portion | 5,406 | 7,488 |
Long-term portion | 5,524 | 6,582 |
Total contract liabilities | 10,930 | 14,070 |
Contract revenue recognized, including revenue from deferred revenue beginning balance | 6,900 | 8,100 | $ 8,500
Ispen, Takeda, Daiichi Sankyo And Genentech Collaborations |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Revenues recognized for performance obligations satisfied in previous periods | 179,700 | $ 161,600 | $ 148,700
Ispen And Takeda Collaborations |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Transaction price allocated to our performance obligations | $ 57,800 |  |

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- Definition Amount, after allowance for credit loss, of right to consideration in exchange for good or service transferred to customer when right is conditioned on something other than passage of time, classified as noncurrent. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 606 -SubTopic 10 -Name Accounting Standards Codification -Section 45 -Paragraph 3 -Publisher FASB -URI https://asc.fasb.org//1943274/2147479837/606-10-45-3 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 606 -SubTopic 10 -Name Accounting Standards Codification -Section 45 -Paragraph 1 -Publisher FASB -URI https://asc.fasb.org//1943274/2147479837/606-10-45-1 Reference 3: http://www.xbrl.org/2003/role/disclosureRef -Topic 606 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 8 -Subparagraph (a) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479806/606-10-50-8 + Details
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