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STOCKHOLDERS’ EQUITY (Tables)
 9 Months Ended
Sep. 30, 2022
Equity [Abstract]  
Schedule of Employee Service Share-based Compensation, Allocation of Recognized Period Costs
The following table sets forth the detailed allocation of the share-based compensation expense which was included in the Company’s Condensed Consolidated Statements of Operations:
 Three Months EndedNine Months Ended
(in thousands)September 30, 2022October 1, 2021September 30, 2022October 1, 2021
Cost of revenue$607 $545 $1,691 $1,840 
Research and development expense2,109 2,129 5,988 5,699 
Selling, general and administrative expense3,744 3,762 11,942 11,328 
Total$6,460 $6,436 $19,621 $18,867 
Schedule of Restricted Stock Units Outstanding
(in thousands, except per share amounts)Number
of
Shares		Weighted Average
Grant-Date Fair Value
Per Share
Balance at December 31, 20213,878 $7.31 
Granted2,637 9.25
Vested(2,634)7.48
Forfeited(120)8.39
Balance at September 30, 20223,761 $8.63