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Revenue Recognition - Receivables, Contract Assets and Liabilities from Contracts with Customer (Details) - USD ($)
$ in Thousands
Apr. 04, 2021
Dec. 31, 2020
Dec. 31, 2019
Revenue from Contract with Customer [Abstract]      
Contract Assets $ 51,455 $ 48,390 $ 56,364
Contract Liabilities $ (12,643) $ (16,687) $ (17,047)