Shareholders' Equity and Accumulated Other Comprehensive Income - Accumulated Other Comprehensive Income (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended
	Mar. 29, 2019	Mar. 30, 2018
Accumulated Other Comprehensive Income (Loss) [Line Items]
Foreign currency translation adjustments	$ (2,918)	$ 6,013
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	633,157	635,656
Other comprehensive income	19	8,231
Ending balance	$ 642,167	$ 642,329
Common Stock, Dividends, Per Share, Declared	$ 200	$ 200
Total accumulated other comprehensive loss
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Ending balance	$ (157,973)	$ (107,583)
Foreign currency translation
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	(14,583)	(7,056)
OCI, before Reclassifications		6,013
Other comprehensive income	(2,918)	6,013
Ending balance	(17,501)	(1,043)
Pension and other post-retirement benefits
Accumulated Other Comprehensive Income (Loss) [Line Items]
Reclassification from AOCI, Current Period, Net of Tax, Attributable to Parent	(2,936)	(2,217)
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	(120,319)	(108,760)
Other comprehensive income	2,936	2,217
Ending balance	(140,477)	(106,543)
Amortization of net loss, net of tax expense	940	709
Derivative Instruments
Accumulated Other Comprehensive Income (Loss) [Line Items]
Reclassification from AOCI, Current Period, Net of Tax, Attributable to Parent	(1)	(1)
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	4	2
Other comprehensive income	1	1
Ending balance	5	3
Reclassification to net income, tax expense	0	1
Accounting Standards Update 2018-02 [Member]
Accumulated Other Comprehensive Income (Loss) [Line Items]
Cumulative Effect on Retained Earnings, Tax		$ 0
Accounting Standards Update 2018-02 [Member] | Pension and other post-retirement benefits
Accumulated Other Comprehensive Income (Loss) [Line Items]
Cumulative Effect on Retained Earnings, Tax	$ (23,094)