Stockholders' Equity and Series A Convertible Preferred Stock (Details) $ / shares in Units, $ in Thousands		3 Months Ended					12 Months Ended
	Apr. 20, 2020 USD ($) $ / shares shares	Mar. 31, 2020 $ / shares	Dec. 31, 2019 USD ($) $ / shares shares	Oct. 01, 2019 $ / shares	Jul. 02, 2019 $ / shares	Apr. 02, 2019 $ / shares	Dec. 29, 2020 USD ($) director item $ / shares shares	Dec. 31, 2019 USD ($) $ / shares shares	Jan. 01, 2019 USD ($) $ / shares shares
Stockholders Equity
Cash dividends declared per common share (in dollars per share) | $ / shares		$ 0.36	$ 0.36	$ 0.36	$ 0.33	$ 0.33	$ 0.36	$ 1.38	$ 1.24
Repurchased shares since program inception | shares			52,916,434				53,026,409	52,916,434
Value of shares repurchased since program inception			$ 1,693,122				$ 1,696,743	$ 1,693,122
Treasury stock repurchased during period							3,621	$ 50,982	$ 109,276
Preferred stock direct costs							10,257
Dividends paid in-kind							$ 18,248
Treasury Stock
Stockholders Equity
Number of shares authorized to be repurchased | shares							56,000,000.0
Repurchased shares since program inception | shares							53,000,000.0
Value of shares repurchased since program inception							$ 1,696,700
Shares repurchased during period | shares							100,000	1,100,000	2,300,000
Treasury stock repurchased during period							$ 3,600	$ 51,000	$ 109,300
Convertible Preferred stock
Stockholders Equity
Treasury stock repurchased during period							0	$ 0	$ 0
Preferred stock direct costs							(10,257)
Dividends paid in-kind							$ 18,248
Series A Convertible Preferred Stock
Stockholders Equity
Number of shares issued (in shares) | shares	200,000
Value of shares issued	$ 200,000
Price per share (in dollars per share) | $ / shares	$ 1,000
Preferred stock direct costs	$ 10,300
Liquidation Preference (in dollars per share) | $ / shares							$ 1,042.66
Dividend rate (as a percent)							9.50%
Dividends paid in-kind							$ 13,500
Conversion price (in dollars per share) | $ / shares							$ 22.23
Beneficial ownership (as a percent)							19.90%
Threshold trading days for conversion of preferred stock | item							20
Preferred Stock, Convertible, Threshold Consecutive Trading Days | item							30
Preferred Stock, Convertible, Closing Price Of Common Stock, Percent							200.00%
Beneficial conversion feature							$ 4,800
Percentage of outstanding common stock in to which the preferred stock is convertible							17.10%
Beneficial ownership percentage considered for designating board member							25.00%
Number of members of board of directors who can be designated by the beneficial owner | director							1
Number of person who can be nominated for election to board of directors by the beneficial owner | director							1
Series A Convertible Preferred Stock | April 21, 2025 and April 19, 2026
Stockholders Equity
Redemption rate (as a percent)							120.00%
Series A Convertible Preferred Stock | At any time beginning on April 20, 2026
Stockholders Equity
Redemption rate (as a percent)							100.00%
Common stock issued upon conversion of Series A Convertible Preferred Stock
Stockholders Equity
Beneficial ownership percentage considered for designating board member							5.00%