Restructuring - Rollforward (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Oct. 03, 2021	Sep. 27, 2020	Oct. 03, 2021	Sep. 27, 2020
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning			$ 2,808
Charges (Benefits)	$ (230)	$ (97)	4,344	$ 2,738
(Payments) Recoveries			(4,614)
Restructuring reserve, end	2,538		2,538
January 2021 Restructuring Plan:
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning			0
Charges (Benefits)	(74)	0	3,569	0
(Payments) Recoveries			(1,974)
Restructuring reserve, end	1,595		1,595
December 2019 Restructuring Plan:
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning			2,608
Charges (Benefits)	(26)	(104)	905	2,784
(Payments) Recoveries			(2,570)
Restructuring reserve, end	943		943
Other Legacy Restructuring Plans
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning			200
Charges (Benefits)	(130)	7	(130)	(46)
(Payments) Recoveries			(70)
Restructuring reserve, end	0		0
Severance and benefits | January 2021 Restructuring Plan:
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning			0
Charges (Benefits)	(75)	0	3,533	0
(Payments) Recoveries			(1,938)
Restructuring reserve, end	1,595		1,595
Severance and benefits | December 2019 Restructuring Plan:
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning			2,608
Charges (Benefits)	(26)	(104)	793	2,784
(Payments) Recoveries			(2,458)
Restructuring reserve, end	943		943
Other costs | January 2021 Restructuring Plan:
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning			0
Charges (Benefits)	1	0	36	0
(Payments) Recoveries			(36)
Restructuring reserve, end	0		0
Other costs | December 2019 Restructuring Plan:
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning			0
Charges (Benefits)	0	$ 0	112	$ 0
(Payments) Recoveries			(112)
Restructuring reserve, end	$ 0		$ 0