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STOCKHOLDERS’ EQUITY - Share-based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
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Jun. 30, 2023 | Jul. 01, 2022 | Jun. 30, 2023 | Jul. 01, 2022
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | $ 6,059 | $ 5,575 | $ 13,483 | $ 13,161
Cost of revenue |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | 439 | 604 | 1,289 | 1,131
Research and development expense |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | 1,731 | 1,317 | 3,830 | 3,853
Selling, general and administrative expense |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | $ 3,889 | $ 3,654 | $ 8,364 | $ 8,177

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