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STOCKHOLDERS’ EQUITY (Tables)
 9 Months Ended
Sep. 29, 2023
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 29, 2023September 30, 2022September 29, 2023September 30, 2022
Cost of revenue$606 $607 $1,895 $1,691 
Research and development expense2,152 2,109 5,982 5,988 
Selling, general and administrative expense4,483 3,744 12,847 11,942 
Total$7,241 $6,460 $20,724 $19,621 
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, 20223,499 $8.93 
Granted2,412 13.73
Vested(2,201)8.86
Forfeited(257)9.08
Balance at September 29, 20233,453 $12.19