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Revenue Recognition - Contract Balances from Contracts with Customers (Details) - USD ($)
$ in Thousands
12 Months Ended
Jan. 02, 2021
Dec. 28, 2019
Dec. 29, 2018
Revenue from Contract with Customer [Abstract]      
Contract liabilities $ 5,527 $ 4,007 $ 5,453
Revenue recognized from:      
Amounts included in contract liabilities at the beginning of the year 3,533 5,155 3,149
Performance obligations satisfied in previous years $ 4,503 $ 3,603 $ 3,346