Shareholders' Equity and Accumulated Other Comprehensive Income - Changes in Shareholders' Equity (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended	6 Months Ended
Jul. 02, 2021	Jul. 03, 2020	Jul. 02, 2021	Jul. 03, 2020
Schedule of Capitalization, Equity [Line Items]
Common Stock, Dividends, Per Share, Declared	$ 0.20	$ 0.20	$ 0.40	$ 0.40
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	$ 767,219	$ 797,229	$ 746,438	$ 823,202
Comprehensive income (loss)	14,474	9,302	38,813	(132)
Dividends declared (per share of common stock, $0.20 and $0.20 and $0.40 and $0.40, respectively)	(5,565)	(5,527)	(11,127)	(11,082)
Employee stock plans and related tax benefit	648	531	1,528	1,986
Purchase of treasury shares	(46)	(96)	(390)	(14,168)
Share-based compensation expense	2,482	1,957	4,225	3,590
New Accounting Pronouncements or Change in Accounting Principle [Line Items]	0	0	(275)	0
Ending balance	$ 779,212	$ 803,396	$ 779,212	$ 803,396

Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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