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Stock-Based Compensation Expense - Summary of Stock Option Activity (Details)
$ / shares in Units, shares in Thousands, $ in Thousands
9 Months Ended
Oct. 01, 2023
USD ($)
$ / shares
shares
Shares (in thousands)  
Outstanding (in shares) | shares 8,467
Granted (in shares) | shares 1,395
Exercised (in shares) | shares (325)
Forfeited or expired (in shares) | shares (562)
Outstanding (in shares) | shares 8,975
Exercisable as of reporting date (in shares) | shares 5,182
Options vested or expected to vest as of reporting date (in shares) | shares 8,493
Weighted- Average Exercise Price  
Outstanding (in dollars per shares) | $ / shares $ 51.56
Granted (in dollars per shares) | $ / shares 47.49
Exercised (in dollars per shares) | $ / shares 33.87
Forfeited or expired (in dollars per shares) | $ / shares 57.71
Outstanding (in dollars per shares) | $ / shares 51.19
Exercisable as of reporting date (in dollars per shares) | $ / shares 47.67
Vested and expected to vest (in dollars per shares) | $ / shares $ 51.01
Weighted- Average Remaining Contractual Term (in years)  
Outstanding (in years) 6 years 1 month 17 days
Exercisable (in years) 4 years 8 months 1 day
Options vested or expected to vest (in years) 5 years 11 months 23 days
Aggregate Intrinsic Value (in thousands)  
Outstanding | $ $ 17,396
Exercisable | $ 17,378
Options vested or expected to vest | $ $ 17,396