Employee Benefit Plans - Narrative (Details)	12 Months Ended
	Dec. 31, 2023 USD ($) Year	Jan. 01, 2023 USD ($)	Jan. 02, 2022 USD ($)
Employee Benefit Plan Disclosure [Line Items]
Defined contribution plan eligibility period (in months)	6 months
Multiemployer contributions, percentage of total plan contributions, less than (percentage)	5.00%
Multiemployer plan, employer contribution	$ 2,700,000	$ 2,400,000	$ 2,600,000
Multiemployer plan funded status (percentage)		85.00%
Defined benefit plan, accumulated other comprehensive (income) loss	$ 34,016,000	$ 27,548,000
Weighted average discount rate for level 3 plan assets, foreign plans (percentage)	3.32%	3.72%
Minimum
Employee Benefit Plan Disclosure [Line Items]
Unobservable input for level 3 plan assets, foreign plans (percentage)	3.30%	3.70%
Maximum
Employee Benefit Plan Disclosure [Line Items]
Unobservable input for level 3 plan assets, foreign plans (percentage)	4.50%	4.75%
401(k) Plan
Employee Benefit Plan Disclosure [Line Items]
Employer matching contribution	$ 3,400,000	$ 3,300,000	3,000,000.0
Employer discretionary contribution	0	0	0
Foreign Plan
Employee Benefit Plan Disclosure [Line Items]
Liability, defined benefit pension plan	5,700,000
Pension expense	1,300,000	2,000,000.0	$ 2,500,000
Defined benefit plan, funded status benefit assets (liability)	(15,080,000)	(7,955,000)
Defined benefit plan, accumulated other comprehensive (income) loss	29,918,000	23,737,000
Defined benefit plan, accumulated other comprehensive income (loss), tax	8,100,000
Defined benefit plan, expected amortization, next fiscal year	$ 1,300,000
Number of defined benefit plans	3
Defined benefit plan, benefit obligation, period increase (decrease)	$ 19,000,000
Defined benefit plan, other comprehensive (income) loss	6,300,000
Defined benefit plan, other comprehensive (income) loss, tax	2,100,000
Defined benefit plan, other comprehensive income (loss), actuarial gain (loss)	(6,600,000)
Defined benefit plan, other comprehensive income (loss), actuarial gain (loss), tax	(2,300,000)
Defined benefit plan, other comprehensive income (loss), amortization of loss	300,000
Defined benefit plan, other comprehensive income (loss), amortization of loss, tax	200,000
Defined benefit plan, expected future contributions	2,700,000
Accumulated benefit obligation	214,428,000	195,440,000
Company contributions	2,497,000	4,001,000
United States
Employee Benefit Plan Disclosure [Line Items]
Defined benefit plan, other comprehensive (income) loss	400,000
Defined benefit plan, other comprehensive (income) loss, tax	100,000
Defined benefit plan, other comprehensive income (loss), actuarial gain (loss)	(500,000)
Defined benefit plan, other comprehensive income (loss), actuarial gain (loss), tax	(200,000)
Defined benefit plan, other comprehensive income (loss), amortization of loss	100,000
Defined benefit plan, other comprehensive income (loss), amortization of loss, tax	$ 100,000
Normal retirement age (in years) | Year	65
Early retirement age (in years) | Year	55
Minimum period of service for entitlement in plan (in years)	15 years
Minimum period under death benefit feature (in years)	10 years
Maximum period for death benefits payable to designated beneficiary (in years)	10 years
Accumulated benefit obligation	$ 22,700,000	22,700,000
Company contributions	1,900,000
Nonqualified Savings Plans
Employee Benefit Plan Disclosure [Line Items]
Deferred compensation liability	28,200,000	27,500,000
Deferred compensation investments	28,417,000	27,610,000
Nonqualified Savings Plans | Mutual Funds
Employee Benefit Plan Disclosure [Line Items]
Deferred compensation investments	9,200,000	11,000,000
Nonqualified Savings Plans | Insurance Contracts
Employee Benefit Plan Disclosure [Line Items]
Deferred compensation investments	$ 19,200,000	$ 16,600,000