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Stockholders' Equity - Common Stock and Share Repurchase Program (Details) - USD ($)
shares in Thousands, $ in Thousands
9 Months Ended
Oct. 03, 2020
Sep. 28, 2019
Apr. 30, 2020
Share Repurchase Programs      
Value of shares repurchased and retired $ 16,287 $ 26,716  
Common Stock      
Common Stock      
Number of shares issued during the period 500    
Share Repurchase Programs      
Number of shares repurchased and retired 210 301  
Program Authorization Date October 2017      
Share Repurchase Programs      
Program amount authorized to repurchase     $ 200,000
Program Authorization Date October 2017 | Common Stock      
Share Repurchase Programs      
Number of shares repurchased and retired 200 300  
Value of shares repurchased and retired $ 16,300 $ 26,700