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Employee Benefit Plans - Components of Net Periodic Benefit Cost (Details) - USD ($)
$ in Thousands
 3 Months Ended
Apr. 02, 2023
Apr. 03, 2022
Retirement Plans    
Defined Benefit Plan Disclosure [Line Items]    
Service cost $ 687 $ 826
Interest cost 4,294 2,710
Expected return on plan assets (2,444) (2,865)
Amortization of prior service cost 219 221
Amortization of net actuarial loss 1,045 1,135
Effect of settlement loss 686 356
Net periodic benefit cost 4,487 2,383
Retiree Health and Life Insurance Plans    
Defined Benefit Plan Disclosure [Line Items]    
Service cost 62 82
Interest cost 130 64
Expected return on plan assets (79) (112)
Amortization of net actuarial loss (193) (185)
Net periodic benefit cost $ (80) $ (151)