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Preferred and Common Shares and Share-based Compensation - Additional Information (Details) - USD ($) | 1 Months Ended | 3 Months Ended | 9 Months Ended |  |  |  |  |
--- | --- | --- | --- | --- | --- | --- | --- | ---
May 31, 2021 | Feb. 28, 2021 | Oct. 01, 2021 | Oct. 02, 2020 | Oct. 01, 2021 | Oct. 02, 2020 | May 13, 2021 | May 12, 2021 | Dec. 31, 2020 | Feb. 29, 2020 | Oct. 31, 2018
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Preferred shares, Authorized | 7,000,000.0 |  | 7,000,000 |  | 7,000,000 |  |  |  | 7,000,000 |  |
Preferred shares, voting rights | one vote per share |  |  |  |  |  |  |  |  |  |
Preferred shares, Issued |  |  | 0 |  | 0 |  |  |  | 0 |  |
Preferred shares, outstanding |  |  | 0 |  | 0 |  |  |  | 0 |  |
Common stock repurchase program authorized amount |  |  |  |  |  |  |  |  |  | $ 50,000,000.0 | $ 25,000,000.0
Share-based compensation expense recognized |  |  | $ 8,490,000 | $ 7,225,000 | $ 20,169,000 | $ 16,072,000 |  |  |  |  |
Requisite service period |  | 5 years |  |  |  |  |  |  |  |  |
Selling, General and Administrative Expenses |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Share-based compensation expense recognized |  |  | $ 4,360,000 | $ 4,265,000 | $ 13,123,000 | 10,225,000 |  |  |  |  |
Amended and Restated 2010 Incentive Plan |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Increase from and increase to, number of shares authorized for issuance |  |  |  |  |  |  | 6,148,613 | 4,398,613 |  |  |
Amended and Restated 2010 Incentive Plan | Deferred Stock Units |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Number of outstanding shares |  |  | 91,000 |  | 91,000 |  |  |  | 162,000 |  |
Amended and Restated 2010 Incentive Plan | Stock Options |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Fully-vested stock options outstanding |  |  | 60,000 |  | 60,000 |  |  |  |  |  |
Stock options granted |  |  |  |  | 0 |  |  |  |  |  |
Amended and Restated 2010 Incentive Plan | Restricted Stock Units and Deferred Stock Units |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Total fair value of stock units vested |  |  |  |  | $ 68,000,000.0 |  |  |  |  |  |
Amended and Restated 2010 Incentive Plan | Restricted Stock Units and Deferred Stock Units | Board of Directors | Selling, General and Administrative Expenses |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Share-based compensation expense recognized |  |  |  |  | $ 1,100,000 | $ 1,000,000.0 |  |  |  |  |
Amended and Restated 2010 Incentive Plan | Restricted Stock Units (RSUs) | Minimum |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Vesting period |  |  |  |  | 0 years |  |  |  |  |  |
Amended and Restated 2010 Incentive Plan | Restricted Stock Units (RSUs) | Maximum |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Vesting period |  |  |  |  | 5 years |  |  |  |  |  |
Amended and Restated 2010 Incentive Plan | EPS Performance-based Restricted Stock Units |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Vesting period |  |  |  |  | 3 years |  |  |  |  |  |
Amended and Restated 2010 Incentive Plan | EPS Performance-based Restricted Stock Units | Minimum |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Range of percentage of shares to be issued upon settlement following vesting of target number of shares |  |  |  |  | 0.00% |  |  |  |  |  |
Amended and Restated 2010 Incentive Plan | EPS Performance-based Restricted Stock Units | Maximum |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Range of percentage of shares to be issued upon settlement following vesting of target number of shares |  |  |  |  | 200.00% |  |  |  |  |  |
Amended and Restated 2010 Incentive Plan | TSR Performance-based Restricted Stock Units |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Vesting period |  |  |  |  | 3 years |  |  |  |  |  |
Amended and Restated 2010 Incentive Plan | TSR Performance-based Restricted Stock Units | Minimum |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Range of percentage of shares to be issued upon settlement following vesting of target number of shares |  |  |  |  | 0.00% |  |  |  |  |  |
Amended and Restated 2010 Incentive Plan | TSR Performance-based Restricted Stock Units | Maximum |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Range of percentage of shares to be issued upon settlement following vesting of target number of shares |  |  |  |  | 200.00% |  |  |  |  |  |
Amended and Restated 2010 Incentive Plan | Operating Cash Flow Performance Based Restricted Stock Units |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Range of percentage of shares to be issued upon settlement following vesting of target number of shares |  | 100.00% |  |  |  |  |  |  |  |  |
Amended and Restated 2010 Incentive Plan | Operating Cash Flow Performance Based Restricted Stock Units | Vesting in Four Year |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Vesting period |  | 4 years |  |  |  |  |  |  |  |  |
Range of percentage of shares to be issued upon settlement following vesting of target number of shares |  | 50.00% |  |  |  |  |  |  |  |  |
Amended and Restated 2010 Incentive Plan | Operating Cash Flow Performance Based Restricted Stock Units | Vesting in Five Year |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Vesting period |  | 5 years |  |  |  |  |  |  |  |  |
Range of percentage of shares to be issued upon settlement following vesting of target number of shares |  | 50.00% |  |  |  |  |  |  |  |  |
Amended and Restated 2010 Incentive Plan | Performance Stock Units |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Total fair value of stock units vested |  |  |  |  | $ 9,300,000 |  |  |  |  |  |
Range of percentage of shares to be issued upon settlement following vesting of target number of shares |  |  |  |  | 160.00% |  |  |  |  |  |
Maximum number of common shares to be earned under these PSU grants |  |  | 286,000 |  | 286,000 |  |  |  |  |  |
2018 and 2020 Repurchase Plans |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Available for share repurchases |  |  | $ 59,500,000 |  | $ 59,500,000 |  |  |  |  |  |

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