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Revenue Recognition - Contract Balances from Contracts with Customers (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 27, 2020
Jun. 29, 2019
Jun. 27, 2020
Jun. 29, 2019
Dec. 28, 2019
Contract liabilities:          
Balance at the end of the period $ 2,775   $ 2,775   $ 4,007
Revenue recognized from:          
Revenue recognized for amounts included in contract liabilities at the beginning of the period 2,940 $ 2,560 3,250 $ 4,631  
Revenue recognized for performance obligations satisfied in previous periods $ 3,554 $ 5,691 $ 4,075 $ 3,590