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Revenue Recognition - Contract Balances from Contracts with Customers (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jul. 03, 2021
Jun. 27, 2020
Jul. 03, 2021
Jun. 27, 2020
Jan. 02, 2021
Contract liabilities:          
Contract liabilities $ 1,893   $ 1,893   $ 5,527
Revenue recognized from:          
Amounts included in contract liabilities at the beginning of the period 2,220 $ 2,940 5,057 $ 3,250  
Performance obligations satisfied in previous periods $ 4,471 $ 3,554 $ 2,684 $ 4,075