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Stock-Based Compensation (Tables)
 3 Months Ended
Mar. 30, 2019
Disclosure of Compensation Related Costs, Share-based Payments [Abstract]  
Schedule of stock-based compensation expense under all share-based payment plans [Table Text Block]
Stock-based compensation expense under all share-based payment plans -- our Employee Stock Purchase Plan, stock option plans, stock-settled stock appreciation rights and restricted stock units -- are included in the results of operations as follows:
 
 
Three Months Ended
 
 
March 30,
2019
 
March 31,
2018
Compensation expense, all share-based payment plans
 
$
753

 
$
1,024
Schedule of share-based compensation, stock-settled stock appreciation rights award activity [Table Text Block]
The following table summarizes our SSARs as of March 30, 2019.
Stock-Settled
Stock Appreciation Rights
 
Number
of
Rights
 
Weighted-
Average
Award Date
Value
 
Weighted-
Average
Remaining
Contractual
Life
 
Unrecognized
Compensation
Cost
 
Aggregate
Intrinsic
Value
Unvested, January 1, 2019
 
380,982

 
$
3.42

 
 
 
 
 
 
Granted
 
—

 
—

 
 
 
 
 
 
Forfeited
 
—

 
—

 
 
 
 
 
 
Vested
 
(115,080
)
 
3.31

 
 
 
 
 
 
Unvested, March 30, 2019
 
265,902

 
$
3.47

 
2.2 years
 
$
829

 
$
5,611
Schedule of share-based compensation, restricted stock units award activity [Table Text Block]
The following table summarizes PRSUs and restricted stock units ("RSUs") as of March 30, 2019.
Restricted Stock Units
 
Number
of
Stock
Units
 
Weighted-
Average
Grant Date
Value
 
Weighted-
Average
Remaining
Contractual
Life
 
Unrecognized
Compensation
Cost
 
Aggregate
Intrinsic
Value
Unvested, January 1, 2019
 
247,838

 
$
15.68

 
 
 
 
 
 
Granted
 
29,046

 
20.36

 
 
 
 
 
 
Forfeited
 
—

 
—

 
 
 
 
 
 
Vested
 
(45,546
)
 
12.64

 
 
 
 
 
 
Unvested, March 30, 2019
 
231,338

 
$
16.86

 
2.3 years
 
$
2,086

 
$
4,881

Employee PRSUs
 
196,930

 
$
16.79

 
2.8 years
 
$
1,831

 
$
4,155

Nonemployee Director RSUs
 
34,408

 
$
17.27

 
1.0 year
 
$
255

 
$
726
Schedule of share-based payment award, stock options, valuation assumptions [Table Text Block]
The fair values of stock-based awards granted were estimated at the dates of grant with the following weighted-average assumption.
 
Three Months Ended
 
March 30,
2019
 
March 31,
2018
Volatility rate
9.9
%
 
10.1
%
Risk-free interest rate
2.5
%
 
2.5
%
Expected dividend yield
.7
%
 
.7
%
Expected life of awards (years)
7.4

 
9.0
Schedule of share-based compensation, stock options activity [Table Text Block]
The following table summarizes activity under the stock option plans for the three months ended March 30, 2019.
Stock Options
 
Number
of
Options
Outstanding
 
Weighted-
Average
Exercise
Price
 
Weighted-
Average
Remaining
Contractual
Life
 
Aggregate
Intrinsic
Value
Outstanding, January 1, 2019
 
1,466,264

 
$
13.94

 
 
 
 
Granted
 
27,800

 
21.10

 
 
 
 
Exercised
 
—

 
—

 
 
 
 
Forfeited
 
(3,200
)
 
16.37

 
 
 
 
Outstanding, March 30, 2019
 
1,490,864

 
$
14.07

 
5.7 years
 
$
10,481

 
 
 
 
 
 
 
 
 
Exercisable, March 30, 2019
 
887,114

 
$
12.22

 
4.4 years
 
$
7,882