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CONDENSED CONSOLIDATED STATEMENTS OF CHANGES IN STOCKHOLDERS' EQUITY - (Parenthetical) - shares
3 Months Ended 9 Months Ended
Sep. 29, 2019
Sep. 30, 2018
Sep. 29, 2019
Sep. 30, 2018
Statement of Stockholders' Equity [Abstract]        
Stock options (in shares) 3,000 34,000 282,510 2,219,201
Restricted stock unit vested (in shares) 25,512 7,648 246,599 230,822
Performance-based awards (in shares)     418,491 271,841