Revenue - Additional Information (Details) contract in Thousands, $ in Millions	3 Months Ended		9 Months Ended
	Sep. 29, 2019 USD ($)	Sep. 30, 2018 USD ($)	Sep. 29, 2019 USD ($) contract	Sep. 30, 2018 USD ($)
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Number of active contracts | contract			11
Revenue recognized in contract liability balance | $	$ 1,100	$ 875	$ 4,000	$ 3,500
Transferred over Time
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Revenue, percentage from products and services transferred to customers	72.00%	75.00%	74.00%	76.00%
Transferred at Point in Time
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Revenue, percentage from products and services transferred to customers	28.00%	25.00%	26.00%	24.00%