Revenues and Allowances - Reserves for Variable Consideration and Credit Risk (Details) - USD ($) $ in Thousands	3 Months Ended	9 Months Ended
Sep. 30, 2023	Oct. 01, 2022	Sep. 30, 2023	Oct. 01, 2022
Revenue from Contract with Customer [Abstract]
Bad debt expense (recovery), net	$ 131	$ (83)	$ 523	$ (345)
Reimbursable expenses	$ 17,932	$ 15,009	$ 49,165	$ 47,654

Amount of expense (reversal of expense) for expected credit loss on right to consideration in exchange for good or service transferred to customer when right to consideration is unconditional.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 606
-SubTopic 10
-Name Accounting Standards Codification
-Section 45
-Paragraph 4
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479837/606-10-45-4

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 606
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 4
-Subparagraph (b)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479806/606-10-50-4

Name:	us-gaap_ContractWithCustomerReceivableCreditLossExpenseReversal
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration