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Stock-based Compensation and Other Stock Plans - Stock Appreciation Rights Narrative (Details) - USD ($)
3 Months Ended
Mar. 28, 2020
Mar. 30, 2019
Cash-Settled Stock Appreciation Rights    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Weighted average contractual term (in years) 10 years  
Weighted-average grant date fair value granted (in dollars per share) $ 5.41  
Intrinsic value of stock exercised $ 100,000 $ 300,000
Fair value of stock vested 0  
Unrecognized compensation cost related to non-vested award $ 100,000  
Cost expected to be recognized over weighted-average period, in years 2 years 2 months 12 days  
Stock-Settled SARs    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Weighted-average grant date fair value granted (in dollars per share) $ 21.31 $ 26.45
Intrinsic value of stock exercised $ 0 $ 0
Fair value of stock vested 2,300,000 $ 2,100,000
Unrecognized compensation cost related to non-vested award $ 4,000,000.0  
Cost expected to be recognized over weighted-average period, in years 2 years 2 months 12 days