Restructuring - Rollforward (Details) - USD ($)	3 Months Ended		9 Months Ended
	Oct. 02, 2022	Oct. 03, 2021	Oct. 02, 2022	Oct. 03, 2021
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning			$ 2,137,000
Charges (Benefits)	$ 111,000	$ (230,000)	244,000	$ 4,344,000
(Payments) Recoveries			(2,364,000)
Restructuring reserve, end	17,000		17,000
January 2021 Restructuring Plan:
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning			764,000
Charges (Benefits)	111,000	(74,000)	(154,000)	3,569,000
(Payments) Recoveries			(593,000)
Restructuring reserve, end	17,000		17,000
December 2019 Restructuring Plan:
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning			1,373,000
Charges (Benefits)	0	(26,000)	(53,000)	905,000
(Payments) Recoveries			(1,320,000)
Restructuring reserve, end	0		0
Severance and benefits | January 2021 Restructuring Plan:
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning			764,000
Charges (Benefits)	111,000	(75,000)	(155,000)	3,533,000
(Payments) Recoveries			(592,000)
Restructuring reserve, end	17,000		17,000
Severance and benefits | December 2019 Restructuring Plan:
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning			1,373,000
Charges (Benefits)	0	(26,000)	(53,000)	793,000
(Payments) Recoveries			(1,320,000)
Restructuring reserve, end	0		0
Other costs | January 2021 Restructuring Plan:
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning			0
Charges (Benefits)	0	1,000	1,000	36,000
(Payments) Recoveries			(1,000)
Restructuring reserve, end	0		0
Other costs | December 2019 Restructuring Plan:
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning			0
Charges (Benefits)	0	0	0	112,000
(Payments) Recoveries			0
Restructuring reserve, end	0		0
Other restructuring
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning			0
Charges (Benefits)	0	$ (130,000)	451,000	$ (130,000)
(Payments) Recoveries			(451,000)
Restructuring reserve, end	0		0
Severance costs	$ 0		$ 500,000