Contract Assets, Contract Costs and Contract Liabilities (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 29, 2023	Sep. 30, 2022	Sep. 29, 2023	Sep. 30, 2022	Dec. 31, 2022
Disaggregation of Revenue [Line Items]
Contract assets	$ 100,709		$ 100,709		$ 113,182
Contract assets, change			$ (12,473)
Contract assets, change (as percent)			(11.00%)
Capitalized Contract Cost, Net, Current	139		$ 139		695
Capitalized costs, current portion, change			$ (556)
Capitalized costs, current portion, change (as percent)			(80.00%)
Capitalized Contract Cost, Net, Noncurrent	643		$ 643		673
Capitalized costs, noncurrent portion, change			$ (30)
Capitalized costs, noncurrent portion, change (as percent)			(4.50%)
Contract liabilities, current portion	7,884		$ 7,884		4,081
Contract liabilities, current portion, change			$ 3,803
Contract liabilities, current portion, change (as percent)			93.20%
Contract liabilities, noncurrent portion	19,653		$ 19,653		20,515
Contract liabilities, noncurrent portion, change			$ (862)
Contract liabilities, noncurrent portion, change (as percent)			(4.20%)
Capitalized contract cost, amortization	100	$ 200	$ 300	$ 500
Revenue recognized related to contract liabilities	1,200	$ 200	1,700	$ 1,400
Contract Changes Negotiated Settlements and Claims [Member]
Disaggregation of Revenue [Line Items]
Contract assets	0		0		0
Costs to Fulfill [Member]
Disaggregation of Revenue [Line Items]
Capitalized Contract Cost, Net	800		800		1,400
Costs to Obtain [Member]
Disaggregation of Revenue [Line Items]
Capitalized Contract Cost, Net	$ 0		$ 0		$ 0