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Leases - Schedule of Components of Lease and Supplemental Cash Flow Information (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Oct. 01, 2022
Sep. 30, 2023
Oct. 01, 2022
Lease Cost        
Operating lease cost $ 4,433 $ 2,056 $ 12,207 $ 5,908
Short-term lease cost 109 147 332 446
Amortization of right-of use assets 49 54 154 144
Interest on lease liabilities 5 3 16 15
Finance lease cost 61 57 189 159
Total lease cost $ 4,603 2,260 $ 12,728 6,513
Operating Leases        
Weighted average remaining lease term (years) 14 years 3 months 18 days   14 years 3 months 18 days  
Weighted average discount rate 6.90%   6.90%  
Finance Leases        
Weighted average remaining lease term (years) 2 years 10 months 24 days   2 years 10 months 24 days  
Weighted average discount rate 3.70%   3.70%  
Cost of goods sold        
Lease Cost        
Lease cost $ 399 413 $ 1,210 1,175
Variable lease cost 54 51 177 213
Short-term lease cost 21 0 63 0
Variable lease cost 3 0 8 0
Research and development expenses        
Lease Cost        
Lease cost 2,507 806 6,979 1,871
Variable lease cost 21 75 104 75
Short-term lease cost 37 0 121 0
Amortization of right-of use assets 4 0 11 0
Selling, general and administrative expenses        
Lease Cost        
Lease cost 820 407 1,937 2,270
Variable lease cost 632 304 1,800 304
Short-term lease cost $ 51 $ 147 $ 148 $ 446