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Stock-Based Compensation (Tables)
 3 Months Ended
Mar. 31, 2018
Disclosure of Compensation Related Costs, Share-based Payments [Abstract]  
Schedule of stock-based compensation expense under all share-based payment plans [Table Text Block]
Stock-based compensation expense under all share-based payment plans -- our Employee Stock Purchase Plan, stock option plans, stock-settled stock appreciation rights and restricted stock units -- included in the results of operations follows:
 
Three Months Ended
 
March 31,
2018
 
April 1,
2017
Compensation expense, all share-based payment plans
$
1,024

 
$
986
Schedule of share-based compensation, stock-settled stock appreciation rights award activity [Table Text Block]
The following table summarizes our SSARs as of March 31, 2018.
Stock-Settled
Stock Appreciation Rights
 
Number
of
Rights
 
Weighted-
Average
Award Date
Value
 
Weighted-
Average
Remaining
Contractual
Life
 
Unrecognized
Compensation
Cost
 
Aggregate
Intrinsic
Value
Unvested, January 1, 2018
 
448,180

 
$
3.10

 
 
 
 
 
 
Granted
 
121,243

 
3.84

 
 
 
 
 
 
Forfeited
 
—

 
—

 
 
 
 
 
 
Vested
 
(140,340
)
 
3.00

 
 
 
 
 
 
Unvested, March 31, 2018
 
429,083

 
$
3.34

 
2.8 years
 
$
1,304

 
$
8,195
Schedule of share-based compensation, restricted stock units award activity [Table Text Block]
The following table summarizes restricted stock units ("RSUs") as of March 31, 2018.
Restricted Stock Units
 
Number
of
Stock
Units
 
Weighted-
Average
Grant Date
Value
 
Weighted-
Average
Remaining
Contractual
Life
 
Unrecognized
Compensation
Cost
 
Aggregate
Intrinsic
Value
Unvested, January 1, 2018
 
290,666

 
$
14.41

 
 
 
 
 
 
Granted
 
31,738

 
18.46

 
 
 
 
 
 
Forfeited
 
—

 
—

 
 
 
 
 
 
Vested
 
(60,580
)
 
11.96

 
 
 
 
 
 
Unvested, March 31, 2018
 
261,824

 
$
15.46

 
2.5 years
 
$
2,224

 
$
5,001

Employee PRSUs
 
224,400

 
$
15.40

 
2.9 years
 
$
1,983

 
$
4,286

Nonemployee Director RSUs
 
37,424

 
$
15.85

 
1.2 years
 
$
241

 
$
715
Schedule of share-based payment award, stock options, valuation assumptions [Table Text Block]
The fair values of stock-based awards granted were estimated at the dates of grant with the following weighted-average assumption.
 
Three Months Ended
 
March 31,
2018
 
April 1,
2017
Volatility rate
10.1
%
 
10.3
%
Risk-free interest rate
2.5
%
 
2.3
%
Expected dividend yield
.7
%
 
.7
%
Expected life of awards (years)
9.0

 
8.5
Schedule of share-based compensation, stock options activity [Table Text Block]
The following table summarizes activity under the stock option plans for the three months ended March 31, 2018.
Stock Options
 
Number
of
Options
Outstanding
 
Weighted-
Average
Exercise
Price
 
Weighted-
Average
Remaining
Contractual
Life
 
Aggregate
Intrinsic
Value
Outstanding, January 1, 2018
 
1,528,615

 
$
13.05

 
 
 
 
Granted
 
—

 
—

 
 
 
 
Exercised
 
(7,300
)
 
14.50

 
 
 
 
Forfeited
 
(8,000
)
 
11.03

 
 
 
 
Outstanding, March 31, 2018
 
1,513,315

 
$
13.05

 
6.0 years
 
$
9,156

 
 
 
 
 
 
 
 
 
Exercisable, March 31, 2018
 
786,815

 
$
11.12

 
4.6 years
 
$
6,279