Long-Term Debt - Convertible Senior Notes Due 2026 (Details)		3 Months Ended		9 Months Ended
	Sep. 29, 2023 USD ($)	Sep. 30, 2023 USD ($) $ / shares	Sep. 30, 2022 USD ($)	Sep. 30, 2023 USD ($) $ / shares shares	Sep. 30, 2022 USD ($)
Debt Instrument [Line Items]
Interest expense		$ 4,830,000	$ 4,923,000	$ 14,556,000	$ 15,264,000
Amortization of debt issuance costs				$ 1,840,000	1,744,000
2026 Notes (mature February 2026)
Debt Instrument [Line Items]
Interest rate (as a percent)		6.75%		6.75%
Maturity date				Feb. 15, 2026
Frequency of periodic payment				semi-annually
Initial conversion ratio				0.1433795
Aggregate number of shares | shares				28,675,900
Initial conversion price per share (USD per share) | $ / shares		$ 6.97		$ 6.97
Increase in the conversion rate				0.0645207
Redemption price as a percentage of principal amount				100.00%
Effective interest rate (as a percent)		7.60%		7.60%
Interest expense		$ 3,700,000	3,700,000	$ 11,100,000	11,100,000
Coupon interest expense		3,400,000	3,400,000	10,100,000	10,100,000
Amortization of debt issuance costs		$ 300,000	$ 300,000	$ 1,000,000.0	$ 1,000,000.0
2026 Notes (mature February 2026) | Maximum
Debt Instrument [Line Items]
Percentage of closing price of common stock to conversion price	130.00%			130.00%
Number of trading days	20			20
Number of consecutive trading days	30			30
2026 Notes (mature February 2026) | Minimum
Debt Instrument [Line Items]
Percentage of closing price of common stock to conversion price				97.00%
Number of trading days				5
Number of consecutive trading days				10