Shareholders' Equity and Accumulated Other Comprehensive Income - Changes in Shareholders' Equity (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended
	Mar. 31, 2023	Apr. 01, 2022
Schedule of Capitalization, Equity [Line Items]
Common Stock, Dividends, Per Share, Declared	$ 0.20	$ 0.20
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	$ 683,979	$ 796,329
Comprehensive income (loss)	3,609	(428)
Dividends declared (per share of common stock, $0.20 and $0.20, respectively)	(5,627)	(5,590)
Employee stock plans and related tax benefit	495	785
Purchase of treasury shares	(503)	(575)
Share-based compensation expense	2,003	2,081
Other Comprehensive Income (Loss), before Reclassifications, Net of Tax	2,538	(5,218)
New Accounting Pronouncements or Change in Accounting Principle [Line Items]		(5,854)
Ending balance	683,956	$ 786,748
Accounting Standards Update 2020-06 Cumulative Effect, Period of Adoption
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Other Comprehensive Income (Loss), before Reclassifications, Net of Tax	$ 0