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Fair Value Measurements - Additional Information (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 27, 2020
Jun. 27, 2020
Dec. 31, 2020
Mar. 28, 2020
Dec. 31, 2019
Royalty Pharma Contingent Milestone Payments | Measured on a recurring basis | Level 3          
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]          
Increase (decrease) in fair value of milestone payment $ 2.1 $ 3.7      
Estimated fair valued contingent milestone payment $ 99.0 $ 99.0 $ 0.0 $ 96.9 $ 95.3
Royalty Pharma          
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]          
Volatility 37.50%        
Rate of return 6.91%