Contract Assets, Contract Costs and Contract Liabilities (Details) - USD ($)	3 Months Ended
	Apr. 02, 2021	Apr. 03, 2020	Dec. 31, 2020
Disaggregation of Revenue [Line Items]
Contract assets	$ 114,601,000		$ 108,645,000
Contract assets, change	$ 5,956,000
Contract assets, change (as percent)	5.50%
Contract costs, current portion	$ 5,050,000		3,511,000
Capitalized costs, current portion, change	$ 1,539,000
Capitalized costs, current portion, change (as percent)	43.80%
Contract costs, noncurrent portion	$ 7,205,000		8,311,000
Capitalized costs, noncurrent portion, change	$ (1,106,000)
Capitalized costs, noncurrent portion, change (as percent)	(13.30%)
Contract liabilities, current portion	$ 32,622,000		39,073,000
Contract liabilities, current portion, change	$ (6,451,000)
Contract liabilities, current portion, change (as percent)	(16.50%)
Contract liabilities, noncurrent portion	$ 12,120,000		11,019,000
Contract liabilities, noncurrent portion, change	$ 1,101,000
Contract liabilities, noncurrent portion, change (as percent)	10.00%
Impairment loss	$ 0	$ 0
Capitalized contract cost, amortization	1,900,000	2,500,000
Revenue recognized related to contract liabilities	9,400,000	$ 14,700,000
Contract changes, negotiated settlements and claims for unanticipated contract costs
Disaggregation of Revenue [Line Items]
Contract assets	3,184,000		3,178,000
Costs to Fulfill [Member]
Disaggregation of Revenue [Line Items]
Capitalized Contract Cost, Net	10,300,000		9,300,000
Costs to Obtain [Member]
Disaggregation of Revenue [Line Items]
Capitalized Contract Cost, Net	$ 2,000,000.0		$ 2,500,000