Comprehensive Income and Accumulated Other Comprehensive Income (Loss) - Summary of Effects of Reclassifications from Accumulated Other Comprehensive Income (Loss) (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Apr. 02, 2023
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Total before tax	$ (45,669)	$ (77,824)
Tax expense	8,360	14,879
Total net of tax	(37,313)	$ (63,192)
Amounts  Reclassified from Accumulated Other Comprehensive Loss | Actuarial gains
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Other nonoperating expense (income)	(143)
Amounts  Reclassified from Accumulated Other Comprehensive Loss | Prior service cost
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Other nonoperating expense (income)	45
Amounts  Reclassified from Accumulated Other Comprehensive Loss | Pension and Other  Postretirement Benefit Plans
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Total before tax	(98)
Tax expense	24
Total net of tax	$ (74)