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Debt - Additional Information (Details) $ in Thousands						3 Months Ended		6 Months Ended	9 Months Ended
	Sep. 30, 2021 USD ($)	Jun. 30, 2021 USD ($)	May 25, 2021 USD ($)	May 21, 2021 USD ($)	May 13, 2021 USD ($)	Oct. 03, 2021 USD ($)	Sep. 27, 2020 USD ($)	Jul. 04, 2021	Oct. 03, 2021 USD ($)	Sep. 27, 2020 USD ($)	Aug. 01, 2021 USD ($)	May 25, 2021 EUR (€)	Apr. 28, 2021 USD ($)	Apr. 07, 2021 EUR (€)	Dec. 31, 2020 USD ($)
Line of Credit Facility [Line Items]
Loss from the early extinguishment of debt						$ 0	$ 0		$ (20,184)	$ 0
Expected debt maturities through December 2021						275,799			275,799
Cash and cash equivalents						160,012			160,012						$ 564,848	[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				750,000			750,000
Committed availability under credit facilities						548,000			548,000
Proceeds from lines of credit	$ 50,000
Repayments of credit facility	$ 50,000
Cash and cash equivalents						160,012			160,012
Commercial Paper
Line of Credit Facility [Line Items]
Committed availability under credit facilities		$ 500,000
Reverse Treasury Lock Contract
Line of Credit Facility [Line Items]
Funding target													$ 100,000
Gain (loss) on derivative					$ (1,356)
Cross-currency swap
Line of Credit Facility [Line Items]
Funding target | €														€ 150,000,000
Gain (loss) on derivative				$ 4,387
5.75% debentures due November 2040
Line of Credit Facility [Line Items]
Amount offered to be repurchased													300,000
Debt						$ 536,173			$ 536,173				$ 600,000		599,279
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
Non-cash write-offs, net					73
Loss from the early extinguishment of debt					$ 20,184
1.0% Euro loan due May 2021
Line of Credit Facility [Line Items]
Debt			$ 177,780			$ 0			$ 0						183,662
Interest rate (percent)			1.00%			1.00%			1.00%			1.00%
Debt principal | €												€ 150,000,000
4.375% debentures due November 2021
Line of Credit Facility [Line Items]
Debt						$ 0			$ 0		$ 250,000				249,741
Interest rate (percent)											4.375%
9.2% debentures due August 2021
Line of Credit Facility [Line Items]
Debt						$ 0			$ 0		$ 4,321				$ 4,320
Interest rate (percent)											9.20%
[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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