Fair Value Measurements (Details) - USD ($) $ in Thousands	3 Months Ended
Mar. 30, 2019	Dec. 31, 2018
Assets [Abstract]
Held-to-maturity Securities, Transferred Security, at Carrying Value	$ 0
Held-to-maturity Securities, Unrecognized Holding Gain	0
Held-to-maturity Securities, Unrecognized Holding Loss	0
Liabilities [Abstract]
Long-term debt, fair value	586,200	$ 577,200
Carrying value of long-term debt, excluding derivative liabilities	506,834	509,407
Fair Value, Measurements, Recurring [Member]
Assets [Abstract]
Assets held in rabbi trusts	47,849	41,770
Available for sale securities	4,295	4,309
Fair value assets	52,144	46,079
Liabilities [Abstract]
Fair value liabilities	(24)	(70)
Level 1 [Member] \| Fair Value, Measurements, Recurring [Member]
Assets [Abstract]
Assets held in rabbi trusts	31,479	26,278
Available for sale securities	4,295	4,309
Fair value assets	35,774	30,587
Liabilities [Abstract]
Fair value liabilities	0	0
Level 2 [Member] \| Fair Value, Measurements, Recurring [Member]
Assets [Abstract]
Assets held in rabbi trusts	16,370	15,492
Available for sale securities	0	0
Fair value assets	16,370	15,492
Liabilities [Abstract]
Fair value liabilities	0	0
Level 3 [Member] \| Fair Value, Measurements, Recurring [Member]
Assets [Abstract]
Assets held in rabbi trusts	0	0
Available for sale securities	0	0
Fair value assets	0	0
Liabilities [Abstract]
Fair value liabilities	(24)	(70)
Convertible Debentures, Due 2040 [Member] \| Fair Value, Measurements, Recurring [Member]
Liabilities [Abstract]
Embedded derivative	0	(1)
Convertible Debentures, Due 2040 [Member] \| Level 1 [Member] \| Fair Value, Measurements, Recurring [Member]
Liabilities [Abstract]
Embedded derivative	0	0
Convertible Debentures, Due 2040 [Member] \| Level 2 [Member] \| Fair Value, Measurements, Recurring [Member]
Liabilities [Abstract]
Embedded derivative	0	0
Convertible Debentures, Due 2040 [Member] \| Level 3 [Member] \| Fair Value, Measurements, Recurring [Member]
Liabilities [Abstract]
Embedded derivative	0	(1)
Convertible Debentures, Due 2041 [Member] \| Fair Value, Measurements, Recurring [Member]
Liabilities [Abstract]
Embedded derivative	(24)	(67)
Convertible Debentures, Due 2041 [Member] \| Level 1 [Member] \| Fair Value, Measurements, Recurring [Member]
Liabilities [Abstract]
Embedded derivative	0	0
Convertible Debentures, Due 2041 [Member] \| Level 2 [Member] \| Fair Value, Measurements, Recurring [Member]
Liabilities [Abstract]
Embedded derivative	0	0
Convertible Debentures, Due 2041 [Member] \| Level 3 [Member] \| Fair Value, Measurements, Recurring [Member]
Liabilities [Abstract]
Embedded derivative	$ (24)	(67)
Convertible Debentures, Due 2042 [Member] \| Fair Value, Measurements, Recurring [Member]
Liabilities [Abstract]
Embedded derivative		(2)
Convertible Debentures, Due 2042 [Member] \| Level 1 [Member] \| Fair Value, Measurements, Recurring [Member]
Liabilities [Abstract]
Embedded derivative		0
Convertible Debentures, Due 2042 [Member] \| Level 2 [Member] \| Fair Value, Measurements, Recurring [Member]
Liabilities [Abstract]
Embedded derivative		0
Convertible Debentures, Due 2042 [Member] \| Level 3 [Member] \| Fair Value, Measurements, Recurring [Member]
Liabilities [Abstract]
Embedded derivative		$ (2)

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

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 820
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (a)
-URI http://asc.fasb.org/extlink&oid=99377789&loc=d3e19207-110258

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- Definition

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

+ References

No definition available.

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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://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 815
-SubTopic 10
-Section 50
-Paragraph 4B
-Subparagraph (c)
-URI http://asc.fasb.org/extlink&oid=109980867&loc=SL5624163-113959

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- References

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- Definition

Amount of accumulated unrecognized gain on investment in debt security measured at amortized cost (held-to-maturity).

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 320
-SubTopic 10
-Section 50
-Paragraph 5
-Subparagraph (b)
-URI http://asc.fasb.org/extlink&oid=82897076&loc=d3e27232-111563

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- Definition

Amount of accumulated unrealized loss on investment in debt security measured at amortized cost (held-to-maturity).

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 320
-SubTopic 10
-Section 50
-Paragraph 5
-Subparagraph (c)
-URI http://asc.fasb.org/extlink&oid=82897076&loc=d3e27232-111563

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Amount of unrealized gain (loss) from transfer of investment in debt security measured at amortized cost (held-to-maturity), to investment in debt security measured at fair value with change in fair value recognized in other comprehensive income (available-for-sale) and investment in debt security measured at fair value with change in fair value recognized in net income (trading).

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 320
-SubTopic 10
-Section 50
-Paragraph 10
-Subparagraph (c)
-URI http://asc.fasb.org/extlink&oid=82897076&loc=d3e27405-111563

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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.

+ References

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- Definition

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

+ References

No definition available.

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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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