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Preferred and Common Shares and Share-based Compensation - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended 6 Months Ended
May 31, 2021
Feb. 28, 2021
Jul. 02, 2021
Jul. 03, 2020
Jul. 02, 2021
Jul. 03, 2020
May 13, 2021
Dec. 31, 2020
Feb. 29, 2020
Oct. 31, 2018
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    
Common stock repurchase program authorized amount                 $ 50,000,000.0 $ 25,000,000.0
Share-based compensation expense recognized     $ 5,035,000 $ 5,648,000 $ 11,679,000 $ 8,847,000        
Requisite service period   5 years                
Selling, General and Administrative Expenses                    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                    
Share-based compensation expense recognized     $ 3,834,000 $ 3,162,000 $ 8,763,000 5,960,000        
Amended and Restated 2010 Incentive Plan | Deferred Stock Units                    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                    
Number of outstanding shares     91,000   91,000     162,000    
Amended and Restated 2010 Incentive Plan | Stock Options                    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                    
Fully-vested stock options outstanding     60,000   60,000          
Stock options granted         0          
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         $ 40,300,000          
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         $ 1,100,000 $ 1,000,000.0        
Amended and Restated 2010 Incentive Plan | EPS Performance-based Restricted Stock Units                    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                    
Vesting period         3 years          
Amended and Restated 2010 Incentive Plan | TSR Performance-based Restricted Stock Units                    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                    
Vesting period         3 years          
Amended and Restated 2010 Incentive Plan | Operating Cash Flow Performance Based Restricted Stock Units                    
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   100.00%                
Amended and Restated 2010 Incentive Plan | Operating Cash Flow Performance Based Restricted Stock Units | Vesting in Four Year                    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                    
Vesting period   4 years                
Range of percentage of shares to be issued upon settlement following vesting of target number of shares   50.00%                
Amended and Restated 2010 Incentive Plan | Operating Cash Flow Performance Based Restricted Stock Units | Vesting in Five Year                    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                    
Vesting period   5 years                
Range of percentage of shares to be issued upon settlement following vesting of target number of shares   50.00%                
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         $ 9,300,000          
Range of percentage of shares to be issued upon settlement following vesting of target number of shares         160.00%          
Maximum number of shares to be earned under these PSU grants     286,000   286,000          
Amended and Restated 2010 Incentive Plan | Minimum                    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                    
Increases the number of shares authorized for issuance             4,398,613      
Amended and Restated 2010 Incentive Plan | Minimum | Restricted Stock Units (RSUs)                    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                    
Vesting period         0 years          
Amended and Restated 2010 Incentive Plan | Minimum | EPS Performance-based Restricted Stock Units                    
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 | Minimum | TSR Performance-based Restricted Stock Units                    
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 | Maximum                    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                    
Increases the number of shares authorized for issuance             6,148,613      
Amended and Restated 2010 Incentive Plan | Maximum | Restricted Stock Units (RSUs)                    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                    
Vesting period         5 years          
Amended and Restated 2010 Incentive Plan | Maximum | EPS Performance-based Restricted Stock Units                    
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 | Maximum | TSR Performance-based Restricted Stock Units                    
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%          
2018 and 2020 Repurchase Plans                    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                    
Available for share repurchases     $ 59,500,000   $ 59,500,000