Revenue from Contracts with Customers - Contract Asset and Liability (Details) - USD ($) $ in Thousands	3 Months Ended	6 Months Ended
	Jul. 03, 2021	Jul. 03, 2021	Dec. 31, 2020
Disaggregation of Revenue [Line Items]
Contract with customer, asset	$ 1,400	$ 1,400	$ 2,300
Contract with customer, asset, prior period, not recognized	$ 700	$ 700
Contract with customer, asset, expected to be billed remainder of year, percent	66.00%	66.00%
Deferred revenue, current	$ 23,951	$ 23,951	19,189
Deferred revenue, current	21,307	21,307	19,904
Deferred revenue	45,258	45,258	39,093
Contract with customer, liability, revenue recognized	6,800	11,100
Products and services
Disaggregation of Revenue [Line Items]
Deferred revenue, current	19,399	19,399	14,651
Deferred revenue, current	2,729	2,729	1,879
Extended warranty
Disaggregation of Revenue [Line Items]
Deferred revenue, current	4,552	4,552	4,538
Deferred revenue, current	$ 18,578	$ 18,578	$ 18,025