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Collaboration Agreements And Business Development Activities -Royalty Pharma Narrative (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 27, 2024
Sep. 29, 2023
Sep. 27, 2024
Sep. 29, 2023
Collaborative Arrangements with Glaxo Smith Kline        
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]        
Percent of royalty on net sale     3.00%  
Collaborative Arrangements with Royalty Pharma        
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]        
Royalty expense $ 19.7 $ 17.5 $ 54.8 $ 50.2