Restructuring - Rollforward (Details) $ in Thousands	3 Months Ended
	Apr. 04, 2021 USD ($)
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning	$ 2,808
Restructuring Costs (Benefits)	3,766
(Payments) Recoveries	(2,042)
Restructuring reserve, end	4,532
January 2021 Restructuring Plan
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning	0
Restructuring Costs (Benefits)	3,684
(Payments) Recoveries	(47)
Restructuring reserve, end	3,637
December 2019 Restructuring Plan
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning	2,608
Restructuring Costs (Benefits)	84
(Payments) Recoveries	(1,927)
Restructuring reserve, end	765
Other Legacy Restructuring Plans
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning	200
Restructuring Costs (Benefits)	(2)
(Payments) Recoveries	(68)
Restructuring reserve, end	130
Severance and benefits | January 2021 Restructuring Plan
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning	0
Restructuring Costs (Benefits)	3,671
(Payments) Recoveries	(34)
Restructuring reserve, end	3,637
Severance and benefits | December 2019 Restructuring Plan
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning	2,608
Restructuring Costs (Benefits)	(28)
(Payments) Recoveries	(1,815)
Restructuring reserve, end	765
Other costs | January 2021 Restructuring Plan
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning	0
Restructuring Costs (Benefits)	13
(Payments) Recoveries	(13)
Restructuring reserve, end	0
Other costs | December 2019 Restructuring Plan
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning	0
Restructuring Costs (Benefits)	112
(Payments) Recoveries	(112)
Restructuring reserve, end	$ 0