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Severance, Restructuring, and Acquisition Integration Activities - Costs of Various Programs (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Oct. 01, 2023 | Oct. 02, 2022 | Oct. 01, 2023 | Oct. 02, 2022
Restructuring Cost and Reserve [Line Items] |  |  |  |
Severance, restructuring, and acquisition integration costs | $ 4,821 | $ 4,632 | $ 6,912 | $ 14,629
Cost of sales |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Severance, restructuring, and acquisition integration costs | 214 | 2,809 | 214 | 8,873
Selling, general and administrative expenses |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Severance, restructuring, and acquisition integration costs | 4,657 | 1,823 | 6,654 | 5,756
Research and development expenses |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Severance, restructuring, and acquisition integration costs | $ (50) | $ 0 | $ 44 | $ 0

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