Revenue from Contracts with Customers - Change in Contract Assets and Liabilities (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 28, 2020	Mar. 30, 2019
Contract assets increase (decrease)
Reclassification of contract assets to contra-revenue	$ (164)	$ (82)
Net change	(164)	(82)
Contract liabilities (increase) decrease
Contract liabilities recognized and recorded to contra-revenue as a result of performance obligations satisfied	(24,610)	(28,567)
Contract liabilities paid	39,064	41,368
Cash received in advance and not recognized as revenue	(19,220)	(24,185)
Reclassification of cash received in advance to revenue as a result of performance obligations satisfied	21,710	25,113
Net change	$ 16,944	$ 13,729