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Debt - Narrative (Details)					3 Months Ended		6 Months Ended
	Jun. 30, 2021 USD ($)	May 25, 2021 USD ($)	May 21, 2021 USD ($)	May 13, 2021 USD ($)	Jul. 04, 2021 USD ($)	Jun. 28, 2020 USD ($)	Jul. 04, 2021 USD ($)	Jun. 28, 2020 USD ($)	May 25, 2021 EUR (€)	Apr. 28, 2021 USD ($)	Apr. 07, 2021 EUR (€)	Dec. 31, 2020 USD ($)		Jan. 31, 2020 USD ($)
Line of Credit Facility [Line Items]
Loss from the early extinguishment of debt					$ (20,184,000)	$ 0	$ (20,184,000)	$ 0
Expected debt maturities through December 2021					404,029,000		404,029,000
Cash and cash equivalents					263,529,000		$ 263,529,000					$ 564,848,000	[1]
LIBOR
Line of Credit Facility [Line Items]
Basis points (percent)							1.25%
Revolving Credit Facility
Line of Credit Facility [Line Items]
Debt term	5 years
Maximum borrowing capacity	$ 750,000,000
Cash and cash equivalents					263,529,000		$ 263,529,000
Committed availability under credit facilities					622,000,000		622,000,000
Commercial Paper
Line of Credit Facility [Line Items]
Committed availability under credit facilities	$ 500,000,000
Reverse Treasury Lock Contract
Line of Credit Facility [Line Items]
Funding target										$ 100,000,000
Gain (loss) on derivative				$ (1,356,000)
Cross-currency swap
Line of Credit Facility [Line Items]
Funding target											€ 150,000,000			$ 250,000,000
Gain (loss) on derivative			$ 4,387,000
5.75% debentures due November 2040
Line of Credit Facility [Line Items]
Amount offered to be repurchased										300,000,000
Debt					$ 536,165,000		$ 536,165,000			$ 600,000,000		599,279,000
Interest rate (percent)					5.75%		5.75%			5.75%
Portion of outstanding debt repurchased (percent)		10.53%							10.53%
Cash cost of debt repurchased		$ 81,961,000
Non-cash write-offs, net				73,000
Loss from the early extinguishment of debt				$ 20,184,000
1.0% Euro loan due May 2021
Line of Credit Facility [Line Items]
Debt		$ 177,780,000			$ 0		$ 0					$ 183,662,000
Interest rate (percent)		1.00%			1.00%		1.00%		1.00%
Debt principal | €									€ 150,000,000
[1] The year-end condensed consolidated balance sheet data was derived from audited financial statements, but does not include all disclosures required by accounting principles generally accepted in the United States of America.

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