Restructuring - Rollforward (Details) $ in Thousands	6 Months Ended
	Jul. 04, 2021 USD ($)
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning	$ 2,808
Charges (Benefits)	4,574
(Payments) Recoveries	(4,234)
Restructuring reserve, end	3,148
January 2021 Restructuring Plan:
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning	0
Charges (Benefits)	3,643
(Payments) Recoveries	(1,491)
Restructuring reserve, end	2,152
December 2019 Restructuring Plan:
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning	2,608
Charges (Benefits)	931
(Payments) Recoveries	(2,673)
Restructuring reserve, end	866
Other Legacy Restructuring Plans
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning	200
Charges (Benefits)	0
(Payments) Recoveries	(70)
Restructuring reserve, end	130
Severance and benefits | January 2021 Restructuring Plan:
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning	0
Charges (Benefits)	3,608
(Payments) Recoveries	(1,456)
Restructuring reserve, end	2,152
Severance and benefits | December 2019 Restructuring Plan:
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning	2,608
Charges (Benefits)	819
(Payments) Recoveries	(2,561)
Restructuring reserve, end	866
Other costs | January 2021 Restructuring Plan:
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning	0
Charges (Benefits)	35
(Payments) Recoveries	(35)
Restructuring reserve, end	0
Other costs | December 2019 Restructuring Plan:
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning	0
Charges (Benefits)	112
(Payments) Recoveries	(112)
Restructuring reserve, end	$ 0