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Stock-Based Compensation (Tables)
 6 Months Ended
Jul. 02, 2022
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 EndedSix Months Ended
July 2,
2022		July 3,
2021		July 2,
2022		July 3,
2021
Compensation expense, all share-based payment plans
$2,316 $1,374 $3,586 $2,265 
Schedule of share-based compensation, stock-settled stock appreciation rights award activity [Table Text Block]
The following table summarizes our SSARs as of July 2, 2022.
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, 202287,534 $1.92    
Granted— —    
Forfeited— —    
Vested(43,752)1.92    
Unvested, July 2, 202243,782 $1.92 0.5 years$40 $792 
Schedule of share-based compensation, restricted stock units award activity [Table Text Block] The following table summarizes PRSUs and RSUs as of July 2, 2022.
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, 2022740,160 $12.49    
Granted351,357 17.89    
Forfeited(500)17.89    
Vested(171,688)10.86    
Unvested, July 2, 2022919,329 $14.86 2.2 years$9,424 $16,640 
Employee PRSUs861,628 $14.89 2.2 years$8,905 $15,596 
Nonemployee Director RSUs57,701 $14.42 2.6 years$519 $1,044 
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.
 Six Months Ended
July 2,
2022		July 3,
2021
Volatility rate9.7 %9.9 %
Risk-free interest rate1.7 %.3 %
Expected dividend yield.4 %.4 %
Expected life of awards (years)3.03.0
Schedule of share-based compensation, stock options activity [Table Text Block] The following table summarizes activity under the stock option plans for the six months ended July 2, 2022.
Stock OptionsNumber
of
Options
Outstanding		Weighted-
Average
Exercise
Price		Weighted-
Average
Remaining
Contractual
Life		Aggregate
Intrinsic
Value
Outstanding, January 1, 20222,350,934 $8.56   
Granted— —   
Exercised(201,901)8.28   
Forfeited(11,910)8.08   
Outstanding, July 2, 2022
2,137,123 $8.59 4.4 years$20,324 
Exercisable, July 2, 2022
1,749,031 $8.00 3.7 years$17,665