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Capital Stock - Narrative (Details) - USD ($)
3 Months Ended 9 Months Ended
Sep. 26, 2020
Sep. 28, 2019
Sep. 26, 2020
Sep. 28, 2019
Dec. 31, 2019
Nov. 04, 2019
Apr. 30, 2018
Class of Stock              
Shares held in employee trust (shares) 193,941   193,941   193,941    
Shares held in employee trust $ 12,400,000   $ 12,400,000   $ 12,400,000    
Share repurchase program authorized             $ 250,000,000.0
Shares remaining for repurchase, value $ 170,000,000.0   $ 170,000,000.0     $ 175,000,000.0  
Common stock              
Class of Stock              
Common shares repurchased (shares) 0 0 265,589 1,192,419      
Common shares repurchased (USD per share)     $ 18.83 $ 16.77