Stock-Based Compensation - Weighted Average Fair Value (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 28, 2021	Dec. 29, 2020	Dec. 31, 2019
Stock options
Stock-Based Compensation
Weighted-average fair value at the grant date for options issued (in dollars per share)		$ 6.66	$ 9.84
Weighted average assumptions under Black-Scholes valuation model
Expected option term		6 years 10 months 24 days	6 years 10 months 24 days
Expected stock price volatility (as a percent)		25.70%	26.30%
Risk-free interest rate (as a percent)		1.50%	2.60%
Dividend yield (as a percent)		3.60%	2.90%
Stock option activity, Shares
Outstanding at beginning of year (in shares)	2,294
Exercised (in shares)	(577)
Forfeited or cancelled (in shares)	(1)
Outstanding at end of the period (in shares)	1,716	2,294
Exercisable at end of the period (in shares)	864
Weighted Average Exercise Price
Outstanding at beginning of year (in dollars per share)	$ 45.35
Exercised (in dollars per share)	42.97
Forfeited or cancelled (in dollars per share)	61.50
Outstanding at end of the period (in dollars per share)	46.14	$ 45.35
Exercisable at end of the period (in dollars per share)	$ 48.97
Weighted Average Remaining Contractual Term (In years)
Weighted Average Remaining Contractual Term (In years)	5 years 1 month 6 days	5 years
Exercisable at end of the period (In years)	3 years 6 months
Aggregate Intrinsic Value
Outstanding at beginning of year	$ 307
Outstanding at end of the period	0	$ 307
Exercisable at end of the period	0
Total intrinsic value of options exercised	7,100	$ 100	$ 4,300
Unrecognized Stock-based Compensation Expense
Total unrecognized stock-based compensation expenses related to unvested stock options, restricted shares and restricted share units	$ 4,700
Expected weighted average period for recognition of compensation expense related to unvested stock option	2 years 6 months
Restricted Shares and Restricted Share Units
Restricted Shares and Restricted Share Units, Shares
Outstanding at beginning of year (in shares)	2,008
Granted (in shares)	661
Vested (in shares)	(320)
Forfeited (in shares)	(226)
Outstanding at end of the period (in shares)	2,123	2,008
Fair value of shares vested	$ 15,400	$ 15,600	$ 15,800
Weighted Average Fair Value
Outstanding at beginning of year (in dollars per share)	$ 43.70
Granted (in dollars per share)	49.57	$ 37.94	$ 45.02
Vested (in dollars per share)	48.12
Forfeited (in dollars per share)	44.06
Outstanding at end of the period (in dollars per share)	$ 44.82	$ 43.70
Unrecognized Stock-based Compensation Expense
Total unrecognized stock-based compensation expenses related to unvested stock options, restricted shares and restricted share units	$ 44,000
Expected weighted average period for recognition of compensation expense related to unvested stock option	2 years 10 months 24 days