Contract Assets, Contract Costs and Contract Liabilities (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Oct. 01, 2021	Oct. 02, 2020	Oct. 01, 2021	Oct. 02, 2020	Dec. 31, 2020
Disaggregation of Revenue [Line Items]
Contract assets	$ 128,824		$ 128,824		$ 108,645
Contract assets, change			$ 20,179
Contract assets, change (as percent)			18.60%
Contract costs, current portion	1,533		$ 1,533		3,511
Capitalized costs, current portion, change			$ (1,978)
Capitalized costs, current portion, change (as percent)			(56.30%)
Contract costs, noncurrent portion	10,389		$ 10,389		8,311
Capitalized costs, noncurrent portion, change			$ 2,078
Capitalized costs, noncurrent portion, change (as percent)			25.00%
Contract liabilities, current portion	10,719		$ 10,719		39,073
Contract liabilities, current portion, change			$ (28,354)
Contract liabilities, current portion, change (as percent)			(72.60%)
Contract liabilities, noncurrent portion	15,426		$ 15,426		11,019
Contract liabilities, noncurrent portion, change			$ 4,407
Contract liabilities, noncurrent portion, change (as percent)			40.00%
Capitalized contract cost, amortization	1,700	$ 4,900	$ 6,900	$ 9,500
Revenue recognized related to contract liabilities	18,300	$ 21,500	38,800	$ 50,200
Contract changes, negotiated settlements and claims for unanticipated contract costs
Disaggregation of Revenue [Line Items]
Contract assets	2,023		2,023		3,178
Costs to Fulfill [Member]
Disaggregation of Revenue [Line Items]
Capitalized Contract Cost, Net	11,400		11,400		9,300
Costs to Obtain [Member]
Disaggregation of Revenue [Line Items]
Capitalized Contract Cost, Net	$ 500		$ 500		$ 2,500