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CONDENSED CONSOLIDATED STATEMENTS OF CHANGES IN STOCKHOLDERS' EQUITY (Unaudited) - (Parenthetical) - shares
3 Months Ended
Mar. 29, 2020
Mar. 31, 2019
Statement of Stockholders' Equity [Abstract]    
Stock options (in shares) 88,775 279,510
Restricted stock unit vested (in shares) 134,985 161,120
Performance-based awards (in shares) 257,098 418,491