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Restructuring Costs (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2023
Apr. 01, 2022
Dec. 31, 2022
Restructuring Cost and Reserve [Line Items]      
Restructuring and severance costs $ 2,190 $ 169  
Restructuring accrual, beginning balance     $ 6,629
Increase (Decrease) in Restructuring Reserve 1,866    
Restructuring Reserve, Period Increase (Decrease) (3,752)    
Restructuring Reserve, Foreign Currency Translation Gain (Loss) 25    
Restructuring accrual, ending balance 4,768    
Share-based compensation expense 2,003 $ 2,081  
Restructuring accrual, long-term portion 1,000   1,000
Restructuring and Severance      
Restructuring Cost and Reserve [Line Items]      
Share-based compensation expense 300    
Transformation severance      
Restructuring Cost and Reserve [Line Items]      
Restructuring and severance costs 2,200    
Restructuring accrual, beginning balance     6,629
Increase (Decrease) in Restructuring Reserve 1,730    
Restructuring Reserve, Period Increase (Decrease) (3,616)    
Restructuring Reserve, Foreign Currency Translation Gain (Loss) 25    
Restructuring accrual, ending balance 4,768    
Transformation other      
Restructuring Cost and Reserve [Line Items]      
Restructuring accrual, beginning balance     $ 0
Increase (Decrease) in Restructuring Reserve 136    
Restructuring Reserve, Period Increase (Decrease) (136)    
Restructuring Reserve, Foreign Currency Translation Gain (Loss) 0    
Restructuring accrual, ending balance $ 0