Accumulated Other Comprehensive Items - Reclassification Out of AOCI (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Oct. 01, 2022	Sep. 30, 2023	Oct. 01, 2022
Reclassification Adjustment out of Accumulated Other Comprehensive Items [Line Items]
Other expense, net	$ (20)	$ (19)	$ (62)	$ (60)
Total expense before income taxes	41,855	37,417	121,005	128,596
Income tax benefit (provision)	(10,816)	(9,746)	(31,761)	(33,075)
Interest expense	(2,107)	(1,721)	(6,722)	(4,321)
Net Income	31,039	27,671	89,244	95,521
Reclassification out of Accumulated Other Comprehensive Items
Reclassification Adjustment out of Accumulated Other Comprehensive Items [Line Items]
Net Income	(2)	(31)	92	(191)
Reclassification out of Accumulated Other Comprehensive Items | Retirement Benefit Plans
Reclassification Adjustment out of Accumulated Other Comprehensive Items [Line Items]
Total expense before income taxes	(3)	(8)	(10)	(26)
Income tax benefit (provision)	1	2	3	7
Net Income	(2)	(6)	(7)	(19)
Reclassification out of Accumulated Other Comprehensive Items | Recognized net actuarial loss
Reclassification Adjustment out of Accumulated Other Comprehensive Items [Line Items]
Other expense, net	(1)	(6)	(3)	(19)
Reclassification out of Accumulated Other Comprehensive Items | Amortization of prior service cost
Reclassification Adjustment out of Accumulated Other Comprehensive Items [Line Items]
Other expense, net	(2)	(2)	(7)	(7)
Reclassification out of Accumulated Other Comprehensive Items | Cash Flow Hedges
Reclassification Adjustment out of Accumulated Other Comprehensive Items [Line Items]
Income tax benefit (provision)	0	8	(37)	55
Net Income	0	(25)	99	(172)
Reclassification out of Accumulated Other Comprehensive Items | Cash Flow Hedges | Interest rate swap agreement
Reclassification Adjustment out of Accumulated Other Comprehensive Items [Line Items]
Interest expense	$ 0	$ (33)	$ 136	$ (227)