Accumulated Other Comprehensive Income (Loss) and Shareholders' Equity - Components (Details) - USD ($) $ in Thousands	9 Months Ended
	Oct. 02, 2021	Sep. 26, 2020
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]
Beginning balance	$ 590,745	$ 584,368
Ending balance	629,707	573,590
Foreign Currency Translation Adjustment
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]
Beginning balance	(1,071)	(2,912)
Other comprehensive income (loss) before reclassifications	107	368
Tax (expense) or benefit	0	0
Amounts reclassified from accumulated other comprehensive income (loss), net of tax	0	0
Ending balance	(964)	(2,544)
Unrealized Gains (Losses) on Debt Securities
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]
Beginning balance	360	95
Other comprehensive income (loss) before reclassifications	(199)	341
Tax (expense) or benefit	42	(72)
Amounts reclassified from accumulated other comprehensive income (loss), net of tax	0	0
Ending balance	203	364
Pension and Post-retirement Liabilities
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]
Beginning balance	(6,682)	(5,762)
Other comprehensive income (loss) before reclassifications	0	0
Tax (expense) or benefit	0	0
Amounts reclassified from accumulated other comprehensive income (loss), net of tax	0	0
Ending balance	(6,682)	(5,762)
Derivative Financial Instruments
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]
Beginning balance	(1,760)	506
Other comprehensive income (loss) before reclassifications	42	(3,236)
Tax (expense) or benefit	(10)	758
Amounts reclassified from accumulated other comprehensive income (loss), net of tax	545	85
Ending balance	(1,183)	(1,887)
Accumulated Other Comprehensive Income (Loss)
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]
Beginning balance	(9,153)	(8,073)
Other comprehensive income (loss) before reclassifications	(50)	(2,527)
Tax (expense) or benefit	32	686
Amounts reclassified from accumulated other comprehensive income (loss), net of tax	545	85
Ending balance	$ (8,626)	$ (9,829)