Fair Value Measurements (Details) - USD ($) $ in Thousands	3 Months Ended
Apr. 01, 2017	Dec. 31, 2016
Assets:
Held-to-maturity Securities, Transferred Security, at Carrying Value	$ 0
Held-to-maturity Securities, Unrecognized Holding Gain	0
Other than Temporary Impairment Losses, Investments, Held-to-maturity Securities	0
Liabilities:
Embedded derivative	(827)	$ (854)
Long-term Debt, Fair Value	899,000	860,600
Carrying value of long-term debt, excluding derivative liabilities	388,260	367,049
Derivative, Notional Amount	105,400	100,000
Fair Value, Measurements, Recurring [Member]
Assets:
Assets held in rabbi trusts	42,345	41,917
Available for sale securities	4,048	3,969
Fair Value Assets	46,393	45,886
Liabilities:
Fair Value Liabilities	(827)	(854)
Fair Value, Inputs, Level 1 [Member] \| Fair Value, Measurements, Recurring [Member]
Assets:
Assets held in rabbi trusts	27,178	27,297
Available for sale securities	4,048	3,969
Fair Value Assets	31,226	31,266
Liabilities:
Fair Value Liabilities	0	0
Fair Value, Inputs, Level 2 [Member] \| Fair Value, Measurements, Recurring [Member]
Assets:
Assets held in rabbi trusts	15,167	14,620
Available for sale securities	0	0
Fair Value Assets	15,167	14,620
Liabilities:
Fair Value Liabilities	0	0
Fair Value, Inputs, Level 3 [Member] \| Fair Value, Measurements, Recurring [Member]
Assets:
Assets held in rabbi trusts	0	0
Available for sale securities	0	0
Fair Value Assets	0	0
Liabilities:
Fair Value Liabilities	(827)	(854)
Convertible Senior Debentures, Due 2040 [Member]
Liabilities:
Embedded derivative	(368)	(393)
Convertible Senior Debentures, Due 2040 [Member] \| Fair Value, Measurements, Recurring [Member]
Liabilities:
Embedded derivative	(368)	(393)
Convertible Senior Debentures, Due 2040 [Member] \| Fair Value, Inputs, Level 1 [Member] \| Fair Value, Measurements, Recurring [Member]
Liabilities:
Embedded derivative	0	0
Convertible Senior Debentures, Due 2040 [Member] \| Fair Value, Inputs, Level 2 [Member] \| Fair Value, Measurements, Recurring [Member]
Liabilities:
Embedded derivative	0	0
Convertible Senior Debentures, Due 2040 [Member] \| Fair Value, Inputs, Level 3 [Member] \| Fair Value, Measurements, Recurring [Member]
Liabilities:
Embedded derivative	(368)	(393)
Convertible Senior Debentures, Due 2041 [Member]
Liabilities:
Embedded derivative	(287)	(285)
Convertible Senior Debentures, Due 2041 [Member] \| Fair Value, Measurements, Recurring [Member]
Liabilities:
Embedded derivative	(287)	(285)
Convertible Senior Debentures, Due 2041 [Member] \| Fair Value, Inputs, Level 1 [Member] \| Fair Value, Measurements, Recurring [Member]
Liabilities:
Embedded derivative	0	0
Convertible Senior Debentures, Due 2041 [Member] \| Fair Value, Inputs, Level 2 [Member] \| Fair Value, Measurements, Recurring [Member]
Liabilities:
Embedded derivative	0	0
Convertible Senior Debentures, Due 2041 [Member] \| Fair Value, Inputs, Level 3 [Member] \| Fair Value, Measurements, Recurring [Member]
Liabilities:
Embedded derivative	(287)	(285)
Convertible Senior Debentures, Due 2042 [Member]
Liabilities:
Embedded derivative	(172)	(176)
Convertible Senior Debentures, Due 2042 [Member] \| Fair Value, Measurements, Recurring [Member]
Liabilities:
Embedded derivative	(172)	(176)
Convertible Senior Debentures, Due 2042 [Member] \| Fair Value, Inputs, Level 1 [Member] \| Fair Value, Measurements, Recurring [Member]
Liabilities:
Embedded derivative	0	0
Convertible Senior Debentures, Due 2042 [Member] \| Fair Value, Inputs, Level 2 [Member] \| Fair Value, Measurements, Recurring [Member]
Liabilities:
Embedded derivative	0	0
Convertible Senior Debentures, Due 2042 [Member] \| Fair Value, Inputs, Level 3 [Member] \| Fair Value, Measurements, Recurring [Member]
Liabilities:
Embedded derivative	$ (172)	$ (176)

Aggregate notional amount specified by the derivative(s). Expressed as an absolute value.

Reference 1: http://www.xbrl.org/2003/role/presentationRef
-Publisher SEC
-Name Regulation S-X (SX)
-Number 210
-Article 12
-Section 13
-Sentence Column B

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- Definition

Fair value portion of probable future economic benefits obtained or controlled by an entity as a result of past transactions or events.

+ References

Reference 1: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 820
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (a)
-URI http://asc.fasb.org/extlink&oid=66048111&loc=d3e19207-110258

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Amount of investment in debt and equity securities categorized neither as held-to-maturity nor trading.

+ References

Reference 1: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 320
-SubTopic 10
-Section 25
-Paragraph 1
-Subparagraph (b)
-URI http://asc.fasb.org/extlink&oid=65884222&loc=d3e22054-111558

Reference 2: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 320
-SubTopic 10
-Section 50
-Paragraph 5
-Subparagraph (aa)
-URI http://asc.fasb.org/extlink&oid=73527792&loc=d3e27232-111563

Reference 3: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 320
-SubTopic 10
-Section 45
-Paragraph 1
-URI http://asc.fasb.org/extlink&oid=66010992&loc=d3e26610-111562

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- Definition

Fair value as of the balance sheet date of the embedded derivative or group of embedded derivatives classified as a liability.

+ References

Reference 1: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 815
-SubTopic 10
-Section 50
-Paragraph 4B
-Subparagraph (c)
-URI http://asc.fasb.org/extlink&oid=64837297&loc=SL5624163-113959

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- References

No definition available.

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For any transfer of securities categorized as held-to-maturity, this item represents the net carrying amount of the transferred security to another category of investments in debt and equity securities (trading or available-for-sale).

+ References

Reference 1: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 320
-SubTopic 10
-Section 50
-Paragraph 10
-Subparagraph (a)
-URI http://asc.fasb.org/extlink&oid=73527792&loc=d3e27405-111563

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- Definition

Amount of unrecognized gain before loss on investments in held-to-maturity securities.

+ References

Reference 1: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 320
-SubTopic 10
-Section 50
-Paragraph 5
-Subparagraph (b)
-URI http://asc.fasb.org/extlink&oid=73527792&loc=d3e27232-111563

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- Definition

Fair value of financial and nonfinancial obligations.

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- Definition

The fair value amount of long-term debt whether such amount is presented as a separate caption or as a parenthetical disclosure. Additionally, this element may be used in connection with the fair value disclosures required in the footnote disclosures to the financial statements. The element may be used in both the balance sheet and disclosure in the same submission.

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The amount by which the fair value of an investment in debt securities categorized as Held-to-maturity is less than the amortized cost basis or carrying amount of that investment at the balance sheet date and the decline in fair value is deemed to be other than temporary, before considering whether or not such amount is recognized in earnings or other comprehensive income.

+ References

Reference 1: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 320
-SubTopic 10
-Section 50
-Paragraph 5
-URI http://asc.fasb.org/extlink&oid=73527792&loc=d3e27232-111563

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- Definition

The carrying value of long-term debt, excluding the derivative liability.

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- Definition

Fair value as of the balance sheet date of assets held in rabbi trusts to fund payments under deferred compensation and non-qualified pension plans.

+ References

No definition available.

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