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Stockholders' Equity and Stock-Based Compensation - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
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Sep. 28, 2019 | Sep. 29, 2018 | Sep. 28, 2019 | Sep. 29, 2018
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense related to employee stock options and employee stock purchases | $ 3,399 | $ 3,212 | $ 9,713 | $ 8,229
Cost of products [Member] |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense related to employee stock options and employee stock purchases | 326 | 224 | 858 | 455
Cost of service [Member] |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense related to employee stock options and employee stock purchases | 235 | 223 | 629 | 564
Research and development [Member] |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense related to employee stock options and employee stock purchases | 813 | 744 | 2,324 | 1,727
Selling [Member] |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense related to employee stock options and employee stock purchases | 834 | 779 | 2,378 | 2,049
General and administrative [Member] |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense related to employee stock options and employee stock purchases | $ 1,191 | $ 1,242 | $ 3,524 | $ 3,434

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