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Earnings per Share - Activity Related to Restricted Stock Units (Details) - Restricted stock units - $ / shares
3 Months Ended
Apr. 01, 2023
Apr. 01, 2022
Mar. 31, 2023
Mar. 31, 2022
Units        
Beginning balance of shares outstanding 7,578,560 8,289,598 6,589,995 7,799,509
Grants in period (in shares)     2,165,418 1,802,436
Delivered (in shares)     (1,156,209) (1,308,989)
Forfeited (in shares)     (20,644) (3,358)
Ending balance of shares outstanding     7,578,560 8,289,598
Grant Date Weighted Average Fair Value        
Beginning balance, weighted average grant date fair value, shares outstanding (in dollars per share) $ 12.69 $ 14.07 $ 13.80 $ 13.78
Weighted average grant date fair value, granted (in dollars per share)     10.11 16.11
Weighted average grant date fair value, delivered (in dollars per share)     14.12 14.56
Weighted average grant date fair value, forfeited (in dollars per share)     14.03 14.89
Ending balance, weighted average grant date fair value, shares outstanding (in dollars per share)     $ 12.69 $ 14.07
Restricted stock units vested and issued as common stock (shares)   454,060 1,109,308 1,274,458
Vesting period   75 days    
Subsequent Event        
Grant Date Weighted Average Fair Value        
Restricted stock units vested and issued as common stock (shares) 916,114