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Stockholders' Equity - Schedule of Compensation Cost (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 28, 2024 | Jun. 30, 2023 | Jun. 28, 2024 | Jun. 30, 2023
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Share-Based Payment Arrangement, Expense | $ 9,042 | $ 8,423 | $ 15,381 | $ 14,488
Employee Stock Options |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Share-Based Payment Arrangement, Expense | 3,518 | 3,479 | 6,691 | 6,456
Restricted Stock |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Share-Based Payment Arrangement, Expense | 170 | 79 | 198 | 146
RSUs |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Share-Based Payment Arrangement, Expense | 3,084 | 2,148 | 5,396 | 3,749
PSUs |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Share-Based Payment Arrangement, Expense | 2,119 | 2,403 | 2,804 | 3,509
Non Employee Stock Options |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Share-Based Payment Arrangement, Expense | $ 151 | $ 314 | $ 292 | $ 628

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