Stock-based Compensation and Other Stock Plans - Restricted Stock Awards, Non-employee Directors Narrative (Details) - USD ($)	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Oct. 01, 2022	Sep. 30, 2023	Oct. 01, 2022
Stock Appreciation Rights (SARs)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Intrinsic value of stock exercised	$ 0	$ 0	$ 400,000	$ 600,000
Fair value of stock vested			100,000	$ 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)			1 year 8 months 12 days
Granted (in shares)			1,000
Restricted Stock | Non Employee Directors
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Granted (in shares)			5,760	6,525
Vesting period			1 year