Stock-Based Compensation - Weighted Average Fair Value (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2019	Jan. 01, 2019	Jan. 02, 2018
Stock Options
Stock-Based Compensation
Weighted-average fair value at the grant date for options issued (in dollars per share)	$ 9.84	$ 11.62	$ 14.83
Weighted average assumptions under Black-Scholes valuation model
Expected option term	6 years 10 months 24 days	6 years 10 months 24 days	6 years 10 months 24 days
Expected stock price volatility (as a percent)	26.30%	27.80%	24.40%
Risk-free interest rate (as a percent)	2.60%	2.80%	2.30%
Dividend yield (as a percent)	2.90%	2.50%	1.60%
Stock option activity, Shares
Outstanding at beginning of year (in shares)	1,799
Granted (in shares)	307
Exercised (in shares)	(260)
Forfeited or cancelled (in shares)	(17)
Outstanding at end of year (in shares)	1,829	1,799
Exercisable at end of year (in shares)	986
Weighted Average Exercise Price
Outstanding at beginning of year (in dollars per share)	$ 45.03
Granted (in dollars per share)	45.90
Exercised (in dollars per share)	29.72
Forfeited or cancelled (in dollars per share)	48.38
Outstanding at end of year (in dollars per share)	47.32	$ 45.03
Exercisable at end of year (in dollars per share)	$ 46.04
Weighted Average Remaining Contractual Term (In years)
Weighted Average Remaining Contractual Term (In years)	4 years 3 months 18 days	4 years 1 month 6 days
Exercisable at end of year (In years)	2 years 9 months 18 days
Aggregate Intrinsic Value
Outstanding at beginning of year	$ 5,606
Outstanding at end of year	844	$ 5,606
Exercisable at end of year	844
Total intrinsic value of options exercised	4,300	$ 6,200	$ 11,200
Unrecognized Stock-based Compensation Expense
Total unrecognized stock-based compensation expenses related to unvested stock options, restricted shares and restricted share units	$ 7,000
Expected weighted average period for recognition of compensation expense related to unvested stock option	3 years
Restricted Shares and Restricted Share Units
Restricted Shares and Restricted Share Units, Shares
Outstanding at beginning of year (in shares)	1,702
Granted (in shares)	541
Vested (in shares)	(349)
Forfeited (in shares)	(130)
Outstanding at end of year (in shares)	1,764	1,702
Fair value of shares vested	$ 15,800	$ 17,800	$ 18,400
Weighted Average Fair Value
Outstanding at beginning of year (in dollars per share)	$ 48.08
Granted (in dollars per share)	45.02	$ 48.22	$ 54.29
Vested (in dollars per share)	45.26
Forfeited (in dollars per share)	47.19
Outstanding at end of year (in dollars per share)	$ 47.76	$ 48.08
Unrecognized Stock-based Compensation Expense
Total unrecognized stock-based compensation expenses related to unvested stock options, restricted shares and restricted share units	$ 36,400
Expected weighted average period for recognition of compensation expense related to unvested stock option	2 years 10 months 24 days