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Shareholders' Equity - Changes in AOCI (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 29, 2023
Sep. 30, 2022
Sep. 29, 2023
Sep. 30, 2022
AOCI Attributable to Parent, Net of Tax [Roll Forward]        
Beginning Accumulated other comprehensive income (loss) $ (58,031) $ (94,913) $ (69,378) $ (80,169)
Other comprehensive income (loss) before reclassifications (9,022) (13,335) 506 (29,827)
Reclassified to pension cost and deferred tax 848 1,028 2,667 2,776
Ending Accumulated other comprehensive income (loss) (66,205) (107,220) (66,205) (107,220)
Pension and Postretirement Medical        
AOCI Attributable to Parent, Net of Tax [Roll Forward]        
Beginning Accumulated other comprehensive income (loss) (37,915) (58,359) (39,734) (60,107)
Other comprehensive income (loss) before reclassifications 0 0 0 0
Reclassified to pension cost and deferred tax 848 1,028 2,667 2,776
Ending Accumulated other comprehensive income (loss) (37,067) (57,331) (37,067) (57,331)
Cumulative Translation Adjustment        
AOCI Attributable to Parent, Net of Tax [Roll Forward]        
Beginning Accumulated other comprehensive income (loss) (20,116) (36,554) (29,644) (20,062)
Other comprehensive income (loss) before reclassifications (9,022) (13,335) 506 (29,827)
Reclassified to pension cost and deferred tax 0 0 0 0
Ending Accumulated other comprehensive income (loss) $ (29,138) $ (49,889) $ (29,138) $ (49,889)