Shareholders' Equity and Accumulated Other Comprehensive Income - Accumulated Other Comprehensive Income (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended
	Apr. 02, 2021	Apr. 03, 2020
Accumulated Other Comprehensive Income (Loss) [Line Items]
Other Comprehensive Income (Loss), Foreign Currency Transaction and Translation Reclassification Adjustment from AOCI, Realized upon Sale or Liquidation, Net of Tax	$ 22,835	$ 0
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	746,438	823,202
Other Comprehensive Income (Loss), before Reclassifications, Net of Tax	(7,322)	(10,826)
Other comprehensive income (loss)	16,355	(9,719)
Ending balance	767,219	797,229
Other Comprehensive Income (Loss), Defined Benefit Plan, Gain (Loss), Reclassification Adjustment from AOCI, Tax	$ 250	$ 330
Common Stock, Dividends, Per Share, Declared	$ 0.20	$ 0.20
Total accumulated other comprehensive loss
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Ending balance	$ (114,466)	$ (160,612)
Foreign currency translation
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	(717)	(16,351)
Other comprehensive income (loss)	15,513	(10,826)
Ending balance	14,796	(27,177)
Pension and other post-retirement benefits
Accumulated Other Comprehensive Income (Loss) [Line Items]
Reclassification from AOCI, Current Period, Net of Tax, Attributable to Parent	842	1,107
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	(130,104)	(134,542)
Other comprehensive income (loss)	842	1,107
Ending balance	$ (129,262)	$ (133,435)