Schedule of Restructuring, Acquisition and Related Costs (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jul. 01, 2022	Jun. 30, 2023	Jul. 01, 2022
Restructuring Cost And Reserve [Line Items]
Total restructuring charges	$ 1,136	$ 610	$ 3,607	$ 1,232
Acquisition and related charges	98	2,045	103	(207)
Total restructuring, acquisition, and related costs	1,234	2,655	3,710	1,025
2022 Restructuring
Restructuring Cost And Reserve [Line Items]
Total restructuring charges	677		2,874
2020 Restructuring
Restructuring Cost And Reserve [Line Items]
Total restructuring charges	$ 459	$ 610	$ 733	$ 1,232