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Revenue Recognition and Contracts with Customers (Tables)
6 Months Ended
Jul. 01, 2023
Revenue from Contract with Customer [Abstract]  
Schedule of revenue recognized
   Three Months Ended   Six Months Ended 
   July 1, 2023   July 2, 2022   July 1, 2023   July 2, 2022 
                     
Contract liabilities with customers at beginning of period  $1,113   $
   $1,031   $
 
                     
Revenue deferred   11    
    212    
 
                     
Revenue recognized   (1,024)   
    (1,143)   
 
                     
Contract liabilities with customers at end of period  $100   $
   $100   $