Accumulated Other Comprehensive Income (Loss) and Shareholders' Equity - Components (Details) - USD ($) $ in Thousands	3 Months Ended
	Apr. 02, 2022	Apr. 03, 2021
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]
Beginning balance	$ 589,967	$ 590,745
Ending balance	582,040	617,761
Foreign Currency Translation Adjustment
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]
Beginning balance	(654)	(1,071)
Other comprehensive income (loss) before reclassifications	(568)	(132)
Tax (expense) or benefit	0	0
Amounts reclassified from accumulated other comprehensive income (loss), net of tax	0	0
Ending balance	(1,222)	(1,203)
Unrealized Gains (Losses) on Debt Securities
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]
Beginning balance	59	360
Other comprehensive income (loss) before reclassifications	(519)	(127)
Tax (expense) or benefit	109	27
Amounts reclassified from accumulated other comprehensive income (loss), net of tax	0	0
Ending balance	(351)	260
Pension and Post-retirement Liabilities
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]
Beginning balance	(5,444)	(6,682)
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	(5,444)	(6,682)
Derivative Financial Instruments
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]
Beginning balance	(736)	(1,760)
Other comprehensive income (loss) before reclassifications	959	130
Tax (expense) or benefit	(227)	(31)
Amounts reclassified from accumulated other comprehensive income (loss), net of tax	181	164
Ending balance	177	(1,497)
Accumulated Other Comprehensive Income (Loss)
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]
Beginning balance	(6,775)	(9,153)
Other comprehensive income (loss) before reclassifications	(128)	(129)
Tax (expense) or benefit	(118)	(4)
Amounts reclassified from accumulated other comprehensive income (loss), net of tax	181	164
Ending balance	$ (6,840)	$ (9,122)