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Schedule of Restructuring, Acquisition and Related Costs (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Oct. 01, 2021
Oct. 02, 2020
Oct. 01, 2021
Oct. 02, 2020
Restructuring Cost And Reserve [Line Items]        
Total restructuring charges $ 5,185 $ 1,074 $ 7,896 $ 2,427
Acquisition and related charges 2,935 613 8,589 3,164
Total restructuring, acquisition, and related costs 8,120 1,687 16,485 5,591
2020 Restructuring        
Restructuring Cost And Reserve [Line Items]        
Total restructuring charges $ 5,185 1,006 7,688 1,006
2019 Restructuring        
Restructuring Cost And Reserve [Line Items]        
Total restructuring charges   $ 68 $ 208 667
2018 Restructuring        
Restructuring Cost And Reserve [Line Items]        
Total restructuring charges       $ 754