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Common Shares and Share-based Compensation - Additional Information (Details) - USD ($)
3 Months Ended 9 Months Ended
Sep. 27, 2019
Sep. 28, 2018
Sep. 27, 2019
Sep. 28, 2018
Dec. 31, 2018
Oct. 31, 2018
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Repurchase of common stock     $ 6,684,000 $ 3,765,000    
Share-based compensation expense recognized $ 2,243,000 $ 1,695,000 7,348,000 5,475,000    
Selling, General and Administrative Expenses            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share-based compensation expense recognized $ 1,926,000 $ 1,523,000 $ 6,546,000 5,021,000    
Deferred Stock Units            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Number of outstanding shares 187,000   187,000   179,000  
Stock Options | 2010 Incentive Award Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Stock options granted     0      
Fair value of stock options exercised     $ 2,400,000      
Cash received from exercise of stock options     $ 400,000      
Stock options outstanding 73,000   73,000      
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 $ 500,000    
Restricted Stock Units and Deferred Stock Units | 2010 Incentive Award Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Total fair value of stock units vested     $ 13,200,000      
Restricted Stock Units (RSUs) | 2010 Incentive Award Plan | Minimum            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Vesting period     0 years      
Restricted Stock Units (RSUs) | 2010 Incentive Award Plan | Maximum            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Vesting period     5 years      
EPS Performance-based Restricted Stock Units | 2010 Incentive Award Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Vesting period     3 years      
EPS Performance-based Restricted Stock Units | 2010 Incentive Award Plan | Minimum            
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%      
EPS Performance-based Restricted Stock Units | 2010 Incentive Award Plan | 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%      
TSR Performance-based Restricted Stock Units | 2010 Incentive Award Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Vesting period     3 years      
TSR Performance-based Restricted Stock Units | 2010 Incentive Award Plan | Minimum            
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%      
TSR Performance-based Restricted Stock Units | 2010 Incentive Award Plan | 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%      
Performance Stock Units | 2010 Incentive Award Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Total fair value of stock units vested     $ 5,000,000.0      
Range of percentage of shares to be issued upon settlement following vesting of target number of shares     200.00%      
2018 Repurchase Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Common stock repurchase program authorized amount           $ 25,000,000.0
Shares repurchased     81,000      
Repurchase of common stock     $ 6,700,000      
Shares repurchased, average cost per share     $ 82.83