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Revenue Recognition - Reserves for Variable Consideration and Credit Risk (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jul. 03, 2021
Jun. 27, 2020
Jul. 03, 2021
Jun. 27, 2020
Apr. 03, 2021
Jan. 02, 2021
Mar. 28, 2020
Dec. 28, 2019
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]                
Cumulative effect of a change in accounting principle $ 197,831 $ 202,215 $ 197,831 $ 202,215 $ 211,328 $ 209,019 $ 196,360 $ 197,751
Bad debt expense (recovery), net 2 (102) (11) (43)        
Reimbursable expenses 17,176 14,815 33,655 31,245        
Retained Earnings                
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]                
Cumulative effect of a change in accounting principle $ 204,576 $ 208,784 $ 204,576 $ 208,784 $ 219,922 $ 216,999 $ 204,679 200,249
Cumulative Effect Period of Adoption, Adjustment                
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]                
Cumulative effect of a change in accounting principle               (203)
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)
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               $ (200)