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Revenue Recognition - Reserves for Variable Consideration and Credit Risk (Details) - USD ($) $ in Thousands | 3 Months Ended |  |
--- | --- | --- | ---
Apr. 03, 2021 | Mar. 28, 2020 | Jan. 02, 2021 | Dec. 28, 2019
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] |  |  |  |
Cumulative effect of a change in accounting principle | $ 211,328 | $ 196,360 | $ 209,019 | $ 197,751
Bad debt expense (recovery), net | (13) | 59 |  |
Reimbursable expenses | 16,479 | 16,430 |  |
Retained Earnings |  |  |  |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] |  |  |  |
Cumulative effect of a change in accounting principle | $ 219,922 | $ 204,679 | $ 216,999 | 200,249
ASC 326 | Cumulative Effect Period of Adoption, Adjustment |  |  |  |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] |  |  |  |
Cumulative effect of a change in accounting principle |  |  |  | (203)
ASC 326 | Cumulative Effect Period of Adoption, Adjustment | Retained Earnings |  |  |  |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] |  |  |  |
Cumulative effect of a change in accounting principle |  |  |  | $ (203)

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