Contract Assets, Contract Costs and Contract Liabilities (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jul. 01, 2022	Jul. 02, 2021	Jul. 01, 2022	Jul. 02, 2021	Dec. 31, 2021
Disaggregation of Revenue [Line Items]
Contract assets	$ 109,290		$ 109,290		$ 112,354
Contract assets, change			$ (3,064)
Contract assets, change (as percent)			(2.70%)
Contract costs, current portion	909		$ 909		850
Capitalized costs, current portion, change			$ 59
Capitalized costs, current portion, change (as percent)			6.90%
Contract costs, noncurrent portion	9,865		$ 9,865		10,249
Capitalized costs, noncurrent portion, change			$ (384)
Capitalized costs, noncurrent portion, change (as percent)			(3.70%)
Contract liabilities, current portion	2,893		$ 2,893		2,945
Contract liabilities, current portion, change			$ (52)
Contract liabilities, current portion, change (as percent)			(1.80%)
Contract liabilities, noncurrent portion	16,528		$ 16,528		16,528
Contract liabilities, noncurrent portion, change			$ 0
Contract liabilities, noncurrent portion, change (as percent)			0.00%
Capitalized contract cost, amortization	200	$ 3,200	$ 300	$ 5,100
Revenue recognized related to contract liabilities	700	$ 20,500	1,200	$ 29,900
Contract changes, negotiated settlements and claims for unanticipated contract costs
Disaggregation of Revenue [Line Items]
Contract assets	0		0		682
Costs to Fulfill [Member]
Disaggregation of Revenue [Line Items]
Capitalized Contract Cost, Net	10,800		10,800		11,100
Costs to Obtain [Member]
Disaggregation of Revenue [Line Items]
Capitalized Contract Cost, Net	$ 0		$ 0		$ 0