Contract Assets, Contract Costs and Contract Liabilities (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jul. 02, 2021	Jul. 03, 2020	Jul. 02, 2021	Jul. 03, 2020	Dec. 31, 2020
Disaggregation of Revenue [Line Items]
Contract assets	$ 114,552		$ 114,552		$ 108,645
Contract assets, change			$ 5,907
Contract assets, change (as percent)			5.40%
Contract costs, current portion	3,841		$ 3,841		3,511
Capitalized costs, current portion, change			$ 330
Capitalized costs, current portion, change (as percent)			9.40%
Contract costs, noncurrent portion	8,332		$ 8,332		8,311
Capitalized costs, noncurrent portion, change			$ 21
Capitalized costs, noncurrent portion, change (as percent)			0.30%
Contract liabilities, current portion	17,268		$ 17,268		39,073
Contract liabilities, current portion, change			$ (21,805)
Contract liabilities, current portion, change (as percent)			(55.80%)
Contract liabilities, noncurrent portion	14,324		$ 14,324		11,019
Contract liabilities, noncurrent portion, change			$ 3,305
Contract liabilities, noncurrent portion, change (as percent)			30.00%
Capitalized contract cost, amortization	3,200	$ 2,100	$ 5,100	$ 4,600
Revenue recognized related to contract liabilities	20,500	$ 14,000	29,900	$ 28,700
Contract changes, negotiated settlements and claims for unanticipated contract costs
Disaggregation of Revenue [Line Items]
Contract assets	2,167		2,167		3,178
Costs to Fulfill [Member]
Disaggregation of Revenue [Line Items]
Capitalized Contract Cost, Net	11,200		11,200		9,300
Costs to Obtain [Member]
Disaggregation of Revenue [Line Items]
Capitalized Contract Cost, Net	$ 1,000		$ 1,000		$ 2,500