Shareholders' Equity and Accumulated Other Comprehensive Income - Changes in Shareholders' Equity (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended	6 Months Ended
Jul. 03, 2020	Jun. 28, 2019	Jul. 03, 2020	Jun. 28, 2019
Schedule of Capitalization, Equity [Line Items]
Common Stock, Dividends, Per Share, Declared	$ 0.20	$ 0.20	$ 0.40	$ 0.40
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	$ 797,229	$ 642,167	$ 823,202	$ 633,157
Comprehensive income (loss)	9,302	17,731	(132)	31,875
Dividends declared (per share of common stock, $0.20 and $0.20 and $0.40 and $0.40, respectively)	(5,527)	(5,596)	(11,082)	(11,178)
Employee stock plans and related tax benefit	531	2,027	1,986	3,546
Purchase of treasury shares			(14,168)	(3,063)
Share-based compensation expense	2,000		3,590	3,557
Ending balance	803,396	658,169	803,396	658,169
Total Operations, Continuing and Discontinued Operations [Member]
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Purchase of treasury shares	(96)	(112)	(14,168)	(3,063)
Share-based compensation expense	$ 1,957	$ 1,952	$ 3,590	$ 3,832

Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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