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Severance, Restructuring, and Acquisition Integration Activities - Costs of Various Programs (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jul. 02, 2023 | Jul. 03, 2022 | Jul. 02, 2023 | Jul. 03, 2022
Restructuring Cost and Reserve [Line Items] |  |  |  |
Severance, restructuring, and acquisition integration costs | $ 1,417 | $ 1,167 | $ 2,091 | $ 4,150
Cost of sales |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Severance, restructuring, and acquisition integration costs | 0 | 520 | 0 | 892
Selling, general and administrative expenses |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Severance, restructuring, and acquisition integration costs | 1,323 | 647 | 1,997 | 3,258
Research and development expenses |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Severance, restructuring, and acquisition integration costs | $ 94 | $ 0 | $ 94 | $ 0

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