Shareholders' Equity and Accumulated Other Comprehensive Income - Accumulated Other Comprehensive Income (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended
	Apr. 01, 2022	Apr. 02, 2021
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	$ 0	$ 22,835
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	796,329	746,438
Other Comprehensive Income (Loss), before Reclassifications, Net of Tax	(5,218)	(7,322)
Other comprehensive (loss) income	(4,456)	16,355
Ending balance	786,748	767,219
Other Comprehensive Income (Loss), Defined Benefit Plan, Gain (Loss), Reclassification Adjustment from AOCI, Tax	$ 228	$ 250
Common Stock, Dividends, Per Share, Declared	$ 0.20	$ 0.20
Total accumulated other comprehensive loss
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Ending balance	$ (115,841)	$ (114,466)
Foreign currency translation
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	8,772	(717)
Other comprehensive (loss) income	(5,218)	15,513
Ending balance	3,554	14,796
Pension and other post-retirement benefits
Accumulated Other Comprehensive Income (Loss) [Line Items]
Reclassification from AOCI, Current Period, Net of Tax, Attributable to Parent	762	842
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	(120,157)	(130,104)
Other comprehensive (loss) income	762	842
Ending balance	$ (119,395)	$ (129,262)