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Shareholders' Equity and Accumulated Other Comprehensive Income - Changes in Shareholders' Equity (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 30, 2018
Mar. 31, 2017
Increase (Decrease) in Stockholders' Equity [Roll Forward]    
Beginning balance $ 635,656 $ 565,787
Comprehensive income 22,297 11,281
Dividends declared (5,580) (5,431)
Employee stock plans and related tax benefit 2,687 1,653
Purchase of treasury shares (4,600) (2,689)
Share-based compensation expense 1,455 1,381
Amounts reclassified to temporary equity 0 553
Changes due to settlement of warrant transactions (2) 0
Impact of change in revenue accounting standard (9,584) 0
Ending balance $ 642,329 $ 572,535