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Stock-Based Compensation (Tables)
 9 Months Ended
Sep. 30, 2023
Share-Based Payment Arrangement [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 (“SSARs”) and restricted stock units (“RSUs”) -- was included in the results of operations as follows:
 Three Months EndedNine Months Ended
September 30,
2023		October 1,
2022		September 30,
2023		October 1,
2022
Compensation expense, all share-based payment plans
$1,700 $1,658 $5,105 $5,244 
Schedule of share-based compensation, restricted stock units award activity [Table Text Block] The following table summarizes PRSUs and RSUs as of September 30, 2023.
Restricted Stock UnitsNumber
of
Stock
Units		Weighted-
Average
Grant Date
Value		Weighted-
Average
Remaining
Contractual
Life		Unrecognized
Compensation
Cost		Aggregate
Intrinsic
Value
Unvested, January 1, 2023766,267 $14.95    
Granted238,918 18.29    
Forfeited— —    
Vested(71,342)12.18    
Unvested, September 30, 2023933,843 $16.02 1.5 years$6,963 $19,424 
Employee PRSUs885,572 $15.97 1.5 years$6,523 $18,420 
Nonemployee Director RSUs48,271 $16.79 1.6 years$440 $1,004 
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 assumptions.
 Nine Months Ended
September 30,
2023		October 1,
2022
Volatility rate9.6 %9.7 %
Risk-free interest rate4.1 %1.7 %
Expected dividend yield.4 %.4 %
Expected life of awards (years)3.03.0
Schedule of share-based compensation, stock options activity [Table Text Block] The following table summarizes activity under the stock option plans for the nine months ended September 30, 2023.
Stock OptionsNumber
of
Options
Outstanding		Weighted-
Average
Exercise
Price		Weighted-
Average
Remaining
Contractual
Life		Aggregate
Intrinsic
Value
Outstanding, January 1, 20232,072,949 $8.59   
Granted— —   
Exercised(206,253)6.72   
Forfeited(120,800)5.80   
Outstanding, September 30, 2023
1,745,896 $9.01 3.6 years$20,584 
Exercisable, September 30, 2023
1,545,520 $8.67 3.3 years$18,747