Fair Value of Assets and Liabilities-Fair Values of Derivatives and Classifications on Statement of Operation and Statement of Comprehensive Income (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Oct. 01, 2022	Sep. 30, 2023	Oct. 01, 2022
Interest rate swap agreement | Designated as cash flow hedge | Designated as Hedging Instrument
Fair Value, Balance Sheet Grouping, Financial Statement Captions
Other comprehensive income (loss), cash flow hedge, gain (loss), before reclassification and tax	$ (2,034)	$ (10,012)	$ (2,817)	$ (9,300)
Interest rate swap agreement | Designated as cash flow hedge | Designated as Hedging Instrument | Interest expense, net
Fair Value, Balance Sheet Grouping, Financial Statement Captions
Pre-tax gain (loss) on derivatives	(1,252)	314	(3,246)	335
Foreign exchange forward contract | Not Designated as Hedging Instrument | Foreign exchange loss
Fair Value, Balance Sheet Grouping, Financial Statement Captions
Pre-tax gain (loss) on derivatives	$ 4,310	$ 3,209	$ 3,226	$ 3,209