Preferred and Common Shares and Share-based Compensation - Additional Information (Details) - USD ($)	1 Months Ended		3 Months Ended		6 Months Ended
	Feb. 28, 2023	May 31, 2021	Jun. 30, 2023	Jul. 01, 2022	Jun. 30, 2023	Jul. 01, 2022	Dec. 31, 2022	Feb. 29, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Preferred shares, Authorized		7,000,000.0	7,000,000		7,000,000		7,000,000
Preferred shares, voting rights		one vote per share
Preferred shares, Issued			0		0		0
Preferred shares, outstanding			0		0		0
Repurchase of common stock						$ 10,000,000
Share-based compensation expense recognized			$ 5,875,000	$ 5,081,000	$ 12,341,000	11,855,000
Selling, General and Administrative Expenses
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based compensation expense recognized			$ 4,871,000	$ 4,056,000	10,402,000	9,257,000
Employee Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Fair value of stock options granted					$ 3,000,000
Expected annual dividend yield					0.00%
Hybrid PSUs
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected annual dividend yield					0.00%
Amended and Restated 2010 Incentive Plan | Deferred Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of outstanding shares			41,000		41,000		38,000
Amended and Restated 2010 Incentive Plan | Employee Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting/Performance period	3 years
Stock options, Granted	48,000				48,000
Stock options, Expiration Period	7 years
Amended and Restated 2010 Incentive Plan | Restricted Stock Units and Deferred Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total fair value of stock units vested					$ 15,100,000
Amended and Restated 2010 Incentive Plan | Restricted Stock Units and Deferred Stock Units | Board of Directors | Selling, General and Administrative Expenses
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based compensation expense recognized					$ 900,000	$ 1,100,000
Amended and Restated 2010 Incentive Plan | Restricted Stock Units (RSUs) | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting/Performance period					5 years
Amended and Restated 2010 Incentive Plan | Restricted Stock Units (RSUs) | Minimum [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting/Performance period					0 years
Amended and Restated 2010 Incentive Plan | Attainment-based PSUs | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Range of percentage of shares to be issued upon settlement following vesting of target number of shares					200.00%
Amended and Restated 2010 Incentive Plan | Attainment-based PSUs | Minimum [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Range of percentage of shares to be issued upon settlement following vesting of target number of shares					0.00%
Amended and Restated 2010 Incentive Plan | Market-based PSUs | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Range of percentage of shares to be issued upon settlement following vesting of target number of shares					200.00%
Amended and Restated 2010 Incentive Plan | Market-based PSUs | Minimum [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Range of percentage of shares to be issued upon settlement following vesting of target number of shares					0.00%
Amended and Restated 2010 Incentive Plan | Hybrid PSUs | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Range of percentage of shares to be issued upon settlement following vesting of target number of shares					260.00%
Amended and Restated 2010 Incentive Plan | Hybrid PSUs | Minimum [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Range of percentage of shares to be issued upon settlement following vesting of target number of shares					0.00%
Amended and Restated 2010 Incentive Plan | Performance Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total fair value of stock units vested					$ 9,900,000
Maximum number of common shares to be earned under these PSU grants			374,000		374,000
2020 Repurchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock repurchase program authorized amount								$ 50,000,000
Shares repurchased						4,000
Repurchase of common stock						$ 500,000
Shares repurchased, average cost per share						$ 116.95
Available for share repurchases			$ 49,500,000		$ 49,500,000