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Shareholders' Equity - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended
Apr. 03, 2022
Apr. 04, 2021
Restricted Stock    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Stock awards granted (in shares) 302,600 375,600
Stock compensation expense $ 1.2 $ 0.7
Unrecognized compensation expense related to unvested restricted stock $ 7.9  
Restricted Stock | Minimum    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Vesting period (in years) 1 year  
Restricted Stock | Maximum    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Vesting period (in years) 3 years  
Performance Shares    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Stock awards granted (in shares) 227,800  
Stock compensation expense $ 1.0 $ 0.2
Number of shares that may be issued in settlement of the performance shares to the award recipient, upper limit (percentage) 200.00%  
Unrecognized compensation expense related to unvested performance share awards $ 8.6  
Performance Shares | Minimum    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Vesting period (in years) 1 year  
Performance Shares | Maximum    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Vesting period (in years) 3 years  
Restricted Stock and Performance Shares    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Compensation expense, tax benefit $ 0.3