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Shareholders' Equity and Accumulated Other Comprehensive Income - Changes in Shareholders' Equity (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 29, 2019
Mar. 30, 2018
Increase (Decrease) in Stockholders' Equity [Roll Forward]    
Beginning balance $ 633,157 $ 635,656
Comprehensive income 14,144 22,297
Dividends declared (per share of common stock, $0.20 and $0.20, respectively) (5,582) (5,580)
Employee stock plans and related tax benefit 1,519 2,687
Purchase of treasury shares (2,951) (4,600)
Share-based compensation expense 1,880 1,455
Changes due to convertible notes transactions 0 (2)
Impact of change in revenue accounting standard(1) 0 (9,584)
Ending balance $ 642,167 $ 642,329