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Employee Benefit Plans - Components of Net Periodic Benefit Cost (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Oct. 03, 2021
Sep. 27, 2020
Oct. 03, 2021
Sep. 27, 2020
Defined Benefit Plan Disclosure [Line Items]        
Effect of curtailment loss       $ (31)
Retirement Plans        
Defined Benefit Plan Disclosure [Line Items]        
Service cost $ 968 $ 881 $ 2,949 2,966
Interest cost 2,287 12,785 22,051 38,015
Expected return on plan assets (3,361) (12,427) (21,672) (37,234)
Amortization of prior service cost 226 245 687 742
Amortization of net actuarial loss 1,600 7,136 14,849 21,270
Effect of curtailment loss 0 0 0 31
Effect of settlement loss 21 0 547,652 661
Net periodic benefit cost 1,741 8,620 566,516 26,451
Retiree Health and Life Insurance Plans        
Defined Benefit Plan Disclosure [Line Items]        
Service cost 93 89 282 265
Interest cost 49 84 149 249
Expected return on plan assets (111) (92) (335) (275)
Amortization of prior service cost 0 (70) 0 (207)
Amortization of net actuarial loss (186) (208) (563) (620)
Net periodic benefit cost $ (155) $ (197) $ (467) $ (588)