Accumulated Other Comprehensive Income (Loss) and Shareholders' Equity - Components (Details) - USD ($) $ in Thousands	9 Months Ended
	Sep. 26, 2020	Sep. 28, 2019
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]
Beginning balance	$ 584,368	$ 563,259
Other comprehensive income (loss) before reclassifications	(2,527)	(2,359)
Tax (expense) or benefit	686	594
Amounts reclassified from accumulated other comprehensive income (loss), net of tax	85	(947)
Ending balance	573,590	560,345
Foreign Currency Translation Adjustment
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]
Beginning balance	(2,912)	(2,973)
Other comprehensive income (loss) before reclassifications	368	(406)
Tax (expense) or benefit	0	0
Reclassification of stranded tax impact		0
Amounts reclassified from accumulated other comprehensive income (loss), net of tax	0	0
Ending balance	(2,544)	(3,379)
Unrealized Gains (Losses) on Debt Securities
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]
Beginning balance	95	(156)
Other comprehensive income (loss) before reclassifications	341	319
Tax (expense) or benefit	(72)	(67)
Reclassification of stranded tax impact		0
Amounts reclassified from accumulated other comprehensive income (loss), net of tax	0	0
Ending balance	364	96
Pension and Post-retirement Liabilities
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]
Beginning balance	(5,762)	(2,929)
Other comprehensive income (loss) before reclassifications	0	0
Tax (expense) or benefit	0	0
Reclassification of stranded tax impact		(1,185)
Amounts reclassified from accumulated other comprehensive income (loss), net of tax	0	0
Ending balance	(5,762)	(4,114)
Derivative Financial Instruments
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]
Beginning balance	506	2,459
Other comprehensive income (loss) before reclassifications	(3,236)	(2,272)
Tax (expense) or benefit	758	661
Reclassification of stranded tax impact		446
Amounts reclassified from accumulated other comprehensive income (loss), net of tax	85	(947)
Ending balance	(1,887)	347
Accumulated Other Comprehensive Income (Loss)
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]
Beginning balance	(8,073)	(3,599)
Reclassification of stranded tax impact		(739)
Ending balance	$ (9,829)	$ (7,050)