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CONDENSED CONSOLIDATED STATEMENTS OF SHAREHOLDERS' EQUITY (Parenthetical) - shares | 9 Months Ended
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Sep. 29, 2018 | Sep. 30, 2017
Statement of Stockholders' Equity [Abstract] |  |
Purchase of treasury shares, shares acquired (in shares) | 614,454 |
Stock plan exercises; shares acquired (in shares) | 12,971 | 24,672
Stock options exercised; shares issued (in shares) | 52,404 | 106,351
Stock awards; shares issued (in shares) | 7,774 | 6,034

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