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Revenue from Contracts with Customers - Change in Contract Assets and Liabilities (Details) - USD ($)
$ in Thousands
3 Months Ended
Apr. 03, 2021
Mar. 28, 2020
Contract assets increase (decrease)    
Reclassification of contract assets to contra-revenue $ (312) $ (164)
Net change (312) (164)
Contract liabilities (increase) decrease    
Contract liabilities recognized and recorded to contra-revenue as a result of performance obligations satisfied (47,347) (24,610)
Contract liabilities paid 54,735 39,064
Cash received in advance and not recognized as revenue (51,014) (19,220)
Reclassification of cash received in advance to revenue as a result of performance obligations satisfied 49,674 21,710
Net change $ 6,048 $ 16,944