Share-based Arrangements - Compensation Arrangements by Share-based Payment Award (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jul. 01, 2022	Jun. 30, 2023	Jul. 01, 2022
Share-based Compensation Arrangement by Share-based Payment Award
Stock compensation expense	$ 1,925	$ 2,730	$ 3,928	$ 4,811
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage			100.00%	100.00%
Selling, General and Administrative Expenses [Member]
Share-based Compensation Arrangement by Share-based Payment Award
Stock compensation expense	1,900	2,700	$ 3,900	$ 4,800
Restructuring and Severance
Share-based Compensation Arrangement by Share-based Payment Award
Stock compensation expense	$ 0	$ 100	$ 300	$ 100