Shareholders' Equity and Accumulated Other Comprehensive Income - Accumulated Other Comprehensive Income (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended	9 Months Ended
Oct. 02, 2020	Sep. 27, 2019	Oct. 02, 2020	Sep. 27, 2019
Accumulated Other Comprehensive Income (Loss) [Line Items]
Foreign currency translation adjustments and other	$ 9,130	$ (8,585)	$ 6,599	$ (10,173)
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	803,396	658,169	823,202	633,157
Other comprehensive (loss) income	10,237	(5,649)	9,920	(1,365)
Ending balance	770,678	788,944	770,678	788,944
Other Comprehensive Income (Loss), Defined Benefit Plan, Gain (Loss), Reclassification Adjustment from AOCI, Tax	$ 330	$ 940	$ 990	$ 2,820
Common Stock, Dividends, Per Share, Declared	$ 0.20	$ 0.20	$ 0.60	$ 0.60
Total accumulated other comprehensive loss
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Ending balance	$ (140,973)	$ (159,357)	$ (140,973)	$ (159,357)
Foreign currency translation
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	(18,882)	(16,167)	(16,351)	(14,579)
Other comprehensive (loss) income	9,130	(8,585)	6,599	(10,173)
Ending balance	(9,752)	(24,752)	(9,752)	(24,752)
Pension and other post-retirement benefits
Accumulated Other Comprehensive Income (Loss) [Line Items]
Reclassification from AOCI, Current Period, Net of Tax, Attributable to Parent	1,107	2,936	3,321	8,808
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	(132,328)	(137,541)	(134,542)	(120,319)
Other comprehensive (loss) income	1,107	2,936	3,321	8,808
Ending balance	$ (131,221)	$ (134,605)	(131,221)	(134,605)
Stranded Costs [Member] \| Pension and other post-retirement benefits
Accumulated Other Comprehensive Income (Loss) [Line Items]
Reclassification from AOCI, Current Period, Net of Tax, Attributable to Parent			$ 0	$ 23,094

A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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Aggregate dividends declared during the period for each share of common stock outstanding.

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Amount after tax and reclassification adjustments of gain (loss) on foreign currency translation adjustments, foreign currency transactions designated and effective as economic hedges of a net investment in a foreign entity and intra-entity foreign currency transactions that are of a long-term-investment nature.

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Amount after tax of other comprehensive income (loss) attributable to parent entity.

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Amount of tax expense (benefit) of reclassification adjustment from accumulated other comprehensive income (loss) for gain (loss) of defined benefit plan.

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Total of all stockholders' equity (deficit) items, net of receivables from officers, directors, owners, and affiliates of the entity which are attributable to the parent. The amount of the economic entity's stockholders' equity attributable to the parent excludes the amount of stockholders' equity which is allocable to that ownership interest in subsidiary equity which is not attributable to the parent (noncontrolling interest, minority interest). This excludes temporary equity and is sometimes called permanent equity.

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