Shareholders' Equity and Accumulated Other Comprehensive Income - Accumulated Other Comprehensive Income (Details) - USD ($)	3 Months Ended		9 Months Ended
	Oct. 01, 2021	Oct. 02, 2020	Oct. 01, 2021	Oct. 02, 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	$ 779,212,000	$ 803,396,000	746,438,000	823,202,000
Other Comprehensive Income (Loss), before Reclassifications, Net of Tax	(4,342,000)	9,130,000	(9,945,000)	6,599,000
Other comprehensive (loss) income	(3,474,000)	10,237,000	15,499,000	9,920,000
Ending balance	786,749,000	770,678,000	786,749,000	770,678,000
Other Comprehensive Income (Loss), Defined Benefit Plan, Gain (Loss), Reclassification Adjustment from AOCI, Tax	$ 257,000	$ 330,000	$ 773,000	$ 990,000
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	$ (115,322,000)	$ (140,973,000)	$ (115,322,000)	$ (140,973,000)
Foreign currency translation
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	16,515,000	(18,882,000)	(717,000)	(16,351,000)
Other comprehensive (loss) income	(4,342,000)	9,130,000	12,890,000	6,599,000
Ending balance	12,173,000	(9,752,000)	12,173,000	(9,752,000)
Pension and other post-retirement benefits
Accumulated Other Comprehensive Income (Loss) [Line Items]
Reclassification from AOCI, Current Period, Net of Tax, Attributable to Parent	868,000	1,107,000	2,609,000	3,321,000
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	(128,363,000)	(132,328,000)	(130,104,000)	(134,542,000)
Other comprehensive (loss) income	868,000	1,107,000	2,609,000	3,321,000
Ending balance	$ (127,495,000)	$ (131,221,000)	$ (127,495,000)	$ (131,221,000)