Revenue - Changes in Contract Liabilities (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Jan. 01, 2023
Contract With Customer, Liability [Roll Forward]
Contract liabilities at beginning of period	$ 84,875	$ 92,957
Revenue recognized included in the balance at the beginning of the year	(22,014)	(18,601)
Increase due to payments received, excluding amounts recognized as revenue during the year	45,832	10,519
Contract liabilities at end of period	$ 108,693	$ 84,875