Preferred Stock Preferred Stock (Details) $ / shares in Units, $ in Thousands		3 Months Ended		9 Months Ended		12 Months Ended
	Jul. 15, 2019 shares	Sep. 29, 2019 USD ($)	Sep. 30, 2018 USD ($)	Sep. 29, 2019 USD ($)	Sep. 30, 2018 USD ($)	Dec. 31, 2016 USD ($) $ / shares shares
Class of Stock [Line Items]
Preferred stock dividends | $		$ 971	$ 8,732	$ 18,437	$ 26,198
Depository Shares
Class of Stock [Line Items]
Depository shares issued (in shares)						5,200,000
Interest in preferred stock per depository share						0.01
Six Point Seven Five Percentage Series B Mandatory Convertible Preferred Stock
Class of Stock [Line Items]
Percentage of issued shares						6.75%
Offering price per share (in usd per share) | $ / shares						$ 100
Preferred stock converted in to common stock (in shares)	132.50
Number of common stock issued upon conversion (in shares)	6,900,000
Proceeds from offering, net | $						$ 501,000