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Revenue from Contracts with Customers - Contract Asset and Liability (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Oct. 02, 2021
Oct. 02, 2021
Dec. 31, 2020
Disaggregation of Revenue [Line Items]      
Contract with customer, asset $ 1,200 $ 1,200 $ 2,300
Contract with customer, asset, prior period, not recognized $ 300 $ 300  
Contract with customer, asset, expected to be billed remainder of year, percent 55.00% 55.00%  
Deferred revenue, current $ 24,217 $ 24,217 19,189
Deferred revenue, current 21,568 21,568 19,904
Deferred revenue 45,785 45,785 39,093
Contract with customer, liability, revenue recognized 8,600 17,100  
Products and services      
Disaggregation of Revenue [Line Items]      
Deferred revenue, current 19,465 19,465 14,651
Deferred revenue, current 2,639 2,639 1,879
Extended warranty      
Disaggregation of Revenue [Line Items]      
Deferred revenue, current 4,752 4,752 4,538
Deferred revenue, current $ 18,929 $ 18,929 $ 18,025