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Leases - Total lease cost (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2022
Jul. 01, 2021
Jun. 30, 2022
Jul. 01, 2021
Finance lease costs:        
Amortization of finance lease assets $ 696 $ 668 $ 1,401 $ 1,380
Interest on lease liabilities 216 240 437 490
Total finance lease costs 912 908 1,838 1,870
Operating lease costs:        
Operating lease costs 6,364 6,465 12,741 12,786
Variable lease cost 178 (158) 15 (173)
Short-term lease cost 36 37 72 72
Total operating lease costs $ 6,578 $ 6,344 $ 12,828 $ 12,685