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Stock-based Compensation Expense (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jul. 03, 2021
Jun. 27, 2020
Jul. 03, 2021
Jun. 27, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Total stock based compensation expense $ 5,968 $ 5,033 $ 12,385 $ 7,084
Income tax benefit 1,473 1,218 3,071 1,714
Total stock-based compensation expense, net of tax 4,495 3,815 9,314 5,370
Stock awards        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Total stock based compensation expense 5,218 4,440 11,027 5,846
Stock options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Total stock based compensation expense $ 750 $ 593 $ 1,358 $ 1,238