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Revenue from Contracts with Customers - Change in Contract Assets and Liabilities (Details) - USD ($)
$ in Thousands
6 Months Ended
Jun. 27, 2020
Jun. 29, 2019
Contract assets increase (decrease)    
Contract assets recognized   $ 888
Reclassification of contract assets to contra-revenue $ (328) (185)
Net change (328) 703
Contract liabilities (increase) decrease    
Contract liabilities recognized and recorded to contra-revenue as a result of performance obligations satisfied (53,784) (71,517)
Contract liabilities paid 66,851 73,522
Cash received in advance and not recognized as revenue (41,567) (33,520)
Reclassification of cash received in advance to revenue as a result of performance obligations satisfied 33,395 35,781
Net change $ 4,895 $ 4,266