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Stock-Based Compensation (Tables)
 9 Months Ended
Sep. 26, 2020
Share-based Payment Arrangement [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 ("SSARs") and restricted stock units ("RSUs") -- was included in the results of operations as follows:
 Three Months EndedNine Months Ended
September 26,
2020		September 28,
2019		September 26,
2020		September 28,
2019
Compensation expense, all share-based payment plans
$858 $655 $2,567 $2,184 
Schedule of share-based compensation, stock-settled stock appreciation rights award activity [Table Text Block]
The following table summarizes our SSARs as of September 26, 2020.
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, 2020262,705 $3.47    
Granted— —    
Forfeited(2,254)3.53    
Vested(119,255)3.32    
Unvested, September 26, 2020141,196 $3.60 1.1 years$309 $3,516 
Schedule of share-based compensation, restricted stock units award activity [Table Text Block] The following table summarizes PRSUs and RSUs as of September 26, 2020.
Restricted Stock UnitsNumber
of
Stock
Units		Weighted-
Average
Grant Date
Value		Weighted-
Average
Remaining
Contractual
Life		Unrecognized
Compensation
Cost		Aggregate
Intrinsic
Value
Unvested, January 1, 2020224,259 $17.11    
Granted98,863 23.74    
Forfeited(1,871)17.37    
Vested(65,944)15.52    
Unvested, September 26, 2020255,307 $20.09 2.7 years$3,056 $6,357 
Employee PRSUs220,157 $19.92 3.0 years$2,622 $5,482 
Nonemployee Director RSUs35,150 $21.14 1.6 years$434 $875 
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 assumptions.
 Nine Months Ended
September 26,
2020		September 28,
2019
Volatility rate9.7 %9.9 %
Risk-free interest rate.7 %2.3 %
Expected dividend yield.4 %.7 %
Expected life of awards (years)8.18.8
Schedule of share-based compensation, stock options activity [Table Text Block] The following table summarizes activity under the stock option plans for the nine months ended September 26, 2020.
Stock OptionsNumber
of
Options
Outstanding		Weighted-
Average
Exercise
Price		Weighted-
Average
Remaining
Contractual
Life		Aggregate
Intrinsic
Value
Outstanding, January 1, 20201,428,082 $15.13   
Granted174,897 24.20   
Exercised(83,769)10.94   
Forfeited(21,645)19.15   
Outstanding, September 26, 20201,497,565 $16.36 5.6 years$12,789 
Exercisable, September 26, 20201,028,683 $14.26 4.4 years$10,940