Stock-Based Compensation - Performance Share Units and Performance Share Awards (Details) $ / shares in Units, $ in Thousands				12 Months Ended
	Jan. 01, 2023 $ / shares shares	Jan. 01, 2022 $ / shares shares	Jan. 01, 2021 $ / shares shares	Dec. 31, 2023 USD ($) $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares	Dec. 31, 2021 USD ($) $ / shares shares
Stock-based compensation
Stock-based compensation expense | $				$ 9,600	$ 10,300	$ 13,100
Performance Awards
Stock-based compensation
Ratio of common stock for each vested award				1
Number of Shares
Unvested as of beginning of period (in shares)	954,134	942,506	857,282	954,134	942,506	857,282
Granted (in shares)				447,130	350,922	376,810
Vested (in shares)				(193,065)	(203,855)	(214,163)
Forfeited (in shares)				(98,731)	(135,439)	(77,423)
Unvested as of end of period (in shares)				1,109,468	954,134	942,506
Weighted Average Grant Date Fair Value
Unvested as of beginning of period (in dollars per share) | $ / shares	$ 27.36	$ 26.70	$ 25.43	$ 27.36	$ 26.70	$ 25.43
Granted (in dollars per share) | $ / shares				26.72	28.57	27.07
Vested (in dollars per share) | $ / shares				25.96	27.02	22.57
Forfeited (in dollars per share) | $ / shares				26.21	26.63	24.62
Unvested as of end of period (in dollars per share) | $ / shares				$ 27.44	$ 27.36	$ 26.70
Stock-based compensation
Unrecognized compensation expense | $				$ 8,200	$ 7,300	$ 6,100
Period for recognition of unrecognized compensation expense				1 year 3 months 18 days
Total fair value of vested shares (in dollars) | $				$ 5,000	$ 5,500	$ 4,800
Performance Awards | Key employees
Number of Shares
Granted (in shares)				447,130	350,922	376,810
Minimum
Stock-based compensation
Performance achieved, percentage of PSUs earned and vested				0
Performance achieved, percentage of PSAs earned and vested				0
Maximum
Stock-based compensation
Performance achieved, percentage of PSUs earned and vested				200
Performance achieved, percentage of PSAs earned and vested				200
LongTerm Incentive Plan
Stock-based compensation
Performance period	3 years	3 years	3 years	3 years