Revenue and Geographic Information - Changes in Deferred Revenue (Details) - USD ($) $ in Thousands	6 Months Ended
	Jun. 30, 2023	Jul. 01, 2022
Change In Contract With Customer Liability [Roll Forward]
Deferred revenue – beginning of period	$ 35,051	$ 33,385
Amounts billed, but not recognized	17,546	17,686
Recognition of revenue	(17,719)	(14,907)
Deferred revenue – end of period	$ 34,878	$ 36,164