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Restructuring Charges (Details) - USD ($)
$ in Thousands
3 Months Ended
Apr. 03, 2021
Mar. 28, 2020
Restructuring Charges [Abstract]    
Restructuring charges $ 1,700 $ 0
Restructuring Reserve [Roll Forward]    
Beginning balance 9,100 19,500
Additional charges 1,800 0
Payments (4,400) (3,500)
Non-cash adjustments (300) 0
Ending balance $ 6,200 $ 16,000