Equity (Details) - USD ($) $ / shares in Units, $ in Thousands		3 Months Ended
	Apr. 01, 2022	Mar. 31, 2023	Mar. 31, 2022
Stockholders Equity Note [Line Items]
Dividends declared per common share ( usd per share)		$ 0.10	$ 0.10
Dividend equivalents paid on outstanding restricted stock units		$ 600	$ 700
Purchase of treasury stock		$ 7,860	$ 19,832
Restricted stock units
Stockholders Equity Note [Line Items]
Restricted stock units vested and issued as common stock (shares)	454,060	1,109,308	1,274,458
Repurchased shares for award (in shares)		508,237	581,011
Average repurchase price of shares for award (usd per share)		$ 13.85	$ 18.74
Treasury stock, value, acquired, cost method		$ 7,000	$ 10,900
Common stock, par value $0.01 per share
Stockholders Equity Note [Line Items]
Treasury stock, shares, acquired		69,112	481,674
Treasury stock acquired, average cost per share (usd per share)		$ 11.88	$ 18.57
Purchase of treasury stock		$ 800	$ 8,900