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Revenues - Contract Assets and Liabilities (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 29, 2024	Mar. 31, 2023	Dec. 29, 2023
Revenue from Contract with Customer [Abstract]
Contract assets	$ 1,343		$ 1,321
Contract liabilities:
Current portion	4,054		5,406
Long-term portion	4,922		5,524
Total contract liabilities	8,976		$ 10,930
Disaggregation of Revenue [Line Items]
Contract revenue recognized, including revenue from deferred revenue beginning balance	1,600	$ 2,000
Ipsen, Takeda, Daiichi Sankyo and Genentech Collaborations
Disaggregation of Revenue [Line Items]
Revenues recognized for performance obligations satisfied in previous periods	45,900	$ 37,900
Ipsen And Takeda Collaborations
Disaggregation of Revenue [Line Items]
Remaining performance obligation	$ 52,800

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