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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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