Revenues - Narrative (Details) - USD ($) $ in Thousands	Oct. 03, 2021	Jul. 04, 2021	Apr. 04, 2021	Dec. 31, 2020	Sep. 27, 2020	Jun. 28, 2020	Mar. 29, 2020	Dec. 31, 2019
Disaggregation of Revenue [Line Items]
Contract with customer, deferred revenues	$ 79,068	$ 82,077	$ 83,763	$ 77,648	$ 70,201	$ 68,607	$ 69,485	$ 70,070
Contract with customer, deferred revenues, current	53,900
Contract with customer, deferred revenues, noncurrent	25,200
Deferred sales commission	6,000				$ 4,600
Service-Type Warranties
Disaggregation of Revenue [Line Items]
Contract with customer, deferred revenues	11,600
Contract with customer, deferred revenues, current	4,700
Contract with customer, deferred revenues, noncurrent	$ 6,900