Shareholders' Equity and Accumulated Other Comprehensive Income - Accumulated Other Comprehensive Income (Details) - USD ($)	3 Months Ended		6 Months Ended
	Jul. 02, 2021	Jul. 03, 2020	Jul. 02, 2021	Jul. 03, 2020
Accumulated Other Comprehensive Income (Loss) [Line Items]
Other Comprehensive Income (Loss), Foreign Currency Transaction and Translation Reclassification Adjustment from AOCI, Realized upon Sale or Liquidation, Net of Tax			$ 22,835,000	$ 0
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	$ 767,219,000	$ 797,229,000	746,438,000	823,202,000
Other Comprehensive Income (Loss), before Reclassifications, Net of Tax	1,719,000	8,295,000	(5,603,000)	(2,531,000)
Other comprehensive income (loss)	2,618,000	9,402,000	18,973,000	(317,000)
Ending balance	779,212,000	803,396,000	779,212,000	803,396,000
Other Comprehensive Income (Loss), Defined Benefit Plan, Gain (Loss), Reclassification Adjustment from AOCI, Tax	$ 266,000	$ 330,000	$ 516,000	$ 660,000
Common Stock, Dividends, Per Share, Declared	$ 0.20	$ 0.20	$ 0.40	$ 0.40
Total accumulated other comprehensive loss
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Ending balance	$ (111,848,000)	$ (151,210,000)	$ (111,848,000)	$ (151,210,000)
Foreign currency translation
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	14,796,000	(27,177,000)	(717,000)	(16,351,000)
Other comprehensive income (loss)	1,719,000	8,295,000	17,232,000	(2,531,000)
Ending balance	16,515,000	(18,882,000)	16,515,000	(18,882,000)
Pension and other post-retirement benefits
Accumulated Other Comprehensive Income (Loss) [Line Items]
Reclassification from AOCI, Current Period, Net of Tax, Attributable to Parent	899,000	1,107,000	1,741,000	2,214,000
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	(129,262,000)	(133,435,000)	(130,104,000)	(134,542,000)
Other comprehensive income (loss)	899,000	1,107,000	1,741,000	2,214,000
Ending balance	$ (128,363,000)	$ (132,328,000)	$ (128,363,000)	$ (132,328,000)