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Leases - Narrative (Details)
ft² in Thousands, $ in Thousands
 1 Months Ended 3 Months Ended 6 Months Ended
Dec. 31, 2021
USD ($)
ft²
Jul. 03, 2022
USD ($)
Jul. 04, 2021
USD ($)
Jul. 03, 2022
USD ($)
Jul. 04, 2021
USD ($)
Leases [Abstract]          
Operating lease, cost   $ 2,215 $ 2,021 $ 4,444 $ 4,023
Operating lease, payments   2,227 2,014 4,306 4,075
Lease, cost   37 $ 38 75 $ 78
Lessee, Lease, Description [Line Items]          
Operating lease assets $ 23,157 32,128   32,128  
Operating lease liability 25,581 34,252   34,252  
Operating lease liability $ 25,581 $ 34,252   $ 34,252  
Weighted average discount rate 3.40% 2.90%   2.90%  
Weighted average remaining lease term 5 years 1 month 6 days 6 years 10 months 24 days   6 years 10 months 24 days  
Southborough, Massachusetts          
Lessee, Lease, Description [Line Items]          
Rentable area | ft² 65        
Term of contract 10 years        
Option to renew, term of contract 5 years        
Operating lease assets   $ 9,271   $ 9,271  
Operating lease liability   9,271   9,271  
Operating lease liability   $ 9,271   $ 9,271