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Revenue Recognition (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 27, 2020
Mar. 29, 2019
Dec. 31, 2019
Capitalized Contract Cost [Line Items]      
Increase (Decrease) in Deferred Revenue $ (938) $ (724)  
Accounts receivable, trade      
Capitalized Contract Cost [Line Items]      
Accounts Receivable, Trade 129,139   $ 141,168
Change in Accounts Receivable, Trade $ (12,029)    
Contract Asset Percent Change (9.00%)    
Unbilled Receivables      
Capitalized Contract Cost [Line Items]      
Unbilled Contracts Receivable $ 9,265   13,583
Change in Unbilled Receivables $ (4,318)    
Contract Asset Percent Change (32.00%)    
Unearned revenue      
Capitalized Contract Cost [Line Items]      
Deferred Revenue $ 2,317   $ 3,380
Increase (Decrease) in Deferred Revenue $ (1,063)    
Contract Liability Percent Change (31.00%)