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Derivative Financial Instruments - Before-tax Effect (Details)
$ in Thousands
3 Months Ended 6 Months Ended
Jul. 01, 2017
USD ($)
contract
Jul. 02, 2016
USD ($)
contract
Jul. 01, 2017
USD ($)
contract
Jul. 02, 2016
USD ($)
contract
Not Designated as Hedging Instrument | Foreign currency forward contracts        
Derivative Instruments, Gain (Loss)        
Number of foreign currency forward contract held | contract 1 1 1 1
Original notional value $ 3,600 $ 4,700 $ 3,600 $ 4,700
Not Designated as Hedging Instrument | Foreign currency forward contracts | Interest income and other, net        
Derivative Instruments, Gain (Loss)        
Gain (Loss) Recognized in Income (35) 48 (129) (252)
Cash flow hedges | Interest rate swaps        
Derivative Instruments, Gain (Loss)        
Gain (Loss) Recognized in OCI on Derivatives (Effective Portion) during period   (126)   (412)
Original notional value $ 72,500   72,500  
Cash flow hedges | Interest rate swaps | Interest expense        
Derivative Instruments, Gain (Loss)        
Gain (Loss) Reclassified from Accumulated OCI into Income (Effective Portion) during period   $ (61) $ 1,808 $ (127)