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STOCKHOLDERS’ EQUITY - Share-based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
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Sep. 29, 2023 | Sep. 30, 2022 | Sep. 29, 2023 | Sep. 30, 2022
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | $ 7,241 | $ 6,460 | $ 20,724 | $ 19,621
Cost of revenue |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | 606 | 607 | 1,895 | 1,691
Research and development expense |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | 2,152 | 2,109 | 5,982 | 5,988
Selling, general and administrative expense |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | $ 4,483 | $ 3,744 | $ 12,847 | $ 11,942

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