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Stock-based Compensation and Other Stock Plans - Stock Appreciation Rights Narrative (Details) - USD ($)
3 Months Ended 6 Months Ended
Jun. 27, 2020
Jun. 29, 2019
Jun. 27, 2020
Jun. 29, 2019
Stock Appreciation Rights (SARs)        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Weighted average contractual term (in years)     10 years  
Weighted-average grant date fair value granted (in dollars per share)     $ 17.42  
Intrinsic value of stock exercised $ 100,000 $ 200,000 $ 200,000 $ 500,000
Fair value of stock vested     0 $ 100,000
Unrecognized compensation cost related to non-vested award 100,000   $ 100,000  
Cost expected to be recognized over weighted-average period, in years     2 years  
Stock-Settled SARs        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Weighted-average grant date fair value granted (in dollars per share)     $ 21.31 $ 26.45
Intrinsic value of stock exercised 0 $ 0 $ 0 $ 0
Fair value of stock vested     2,300,000 $ 2,100,000
Unrecognized compensation cost related to non-vested award $ 3,500,000   $ 3,500,000  
Cost expected to be recognized over weighted-average period, in years     2 years