Summary of Significant Accounting Policies - Accounts Receivable Factoring (Details) - USD ($)	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jul. 01, 2022	Jun. 30, 2023	Jul. 01, 2022
Accounts Notes And Loans Receivable [Line Items]
Cost of services	$ 53,593,000	$ 63,009,000	$ 111,660,000	$ 131,831,000
Trade Accounts Receivable [Member]
Accounts Notes And Loans Receivable [Line Items]
Cost of services		0	100,000
Trade Accounts Receivable [Member] | Maximum [Member]
Accounts Notes And Loans Receivable [Line Items]
Cost of services	100,000			100,000
Trade Accounts Receivable [Member] | Factoring Agreement [Member]
Accounts Notes And Loans Receivable [Line Items]
Accounts Receivable, Sold	$ 2,000,000.0	$ 0	$ 12,400,000	$ 4,500,000