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Stock-Based Compensation (Tables)
 6 Months Ended
Jun. 30, 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
 
Six Months Ended
 
June 30,
2018
 
July 1,
2017
 
June 30,
2018
 
July 1,
2017
Compensation expense, all share-based payment plans
$
769

 
$
1,462

 
$
1,793

 
$
2,448
Schedule of share-based compensation, stock-settled stock appreciation rights award activity [Table Text Block]
The following table summarizes our SSARs as of June 30, 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
 
(150,120
)
 
3.01

 
 
 
 
 
 
Unvested, June 30, 2018
 
419,303

 
$
3.35

 
2.5 years
 
$
1,173

 
$
8,009
Schedule of share-based compensation, restricted stock units award activity [Table Text Block]
The following table summarizes PRSUs and RSUs as of June 30, 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
 
44,926

 
18.55

 
 
 
 
 
 
Forfeited
 
—

 
—

 
 
 
 
 
 
Vested
 
(80,806
)
 
12.71

 
 
 
 
 
 
Unvested, June 30, 2018
 
254,786

 
$
15.67

 
2.5 years
 
$
2,213

 
$
4,866

Employee PRSUs
 
216,134

 
$
15.40

 
2.7 years
 
$
1,783

 
$
4,128

Nonemployee Director RSUs
 
38,652

 
$
17.17

 
1.9 years
 
$
430

 
$
738
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.
 
Six Months Ended
 
June 30,
2018
 
July 1,
2017
Volatility rate
10.1
%
 
10.3
%
Risk-free interest rate
2.7
%
 
2.2
%
Expected dividend yield
.7
%
 
.7
%
Expected life of awards (years)
9.2

 
8.9
Schedule of share-based compensation, stock options activity [Table Text Block]
The following table summarizes activity under the stock option plans for the six months ended June 30, 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
 
143,250

 
19.10

 
 
 
 
Exercised
 
(80,635
)
 
10.07

 
 
 
 
Forfeited
 
(41,300
)
 
12.37

 
 
 
 
Outstanding, June 30, 2018
 
1,549,930

 
$
13.78

 
6.2 years
 
$
8,246

 
 
 
 
 
 
 
 
 
Exercisable, June 30, 2018
 
965,780

 
$
11.62

 
5.0 years
 
$
7,225