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Stock-Based Compensation Expense - Schedule of Stock-Based Compensation Expense (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 28, 2020
Mar. 30, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Total stock based compensation expense $ 2,051 [1] $ 3,638
Income tax benefit 496 898
Total stock-based compensation expense, net of tax 1,555 2,740
Stock awards    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Total stock based compensation expense 1,405 3,033
Stock options    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Total stock based compensation expense $ 646 $ 605
[1] Decrease in 2020 stock-based compensation expense reflects the cumulative impact of the change in the expected achievements of certain performance targets.