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Accumulated Other Comprehensive Items - Reclassification Out of AOCI (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 27, 2020
Jun. 29, 2019
Jun. 27, 2020
Jun. 29, 2019
Reclassification Adjustment out of Accumulated Other Comprehensive Items [Line Items]        
Other expense, net $ (31) $ (99) $ (63) $ (198)
Interest expense (1,931) (3,573) (4,390) (7,077)
Cost of revenues (86,412) (102,794) (177,216) (203,595)
Total expense before income taxes 16,196 19,529 33,411 34,557
Income tax benefit (4,474) (3,128) (9,033) (7,091)
Net Income 11,722 16,401 24,378 27,466
Reclassification out of Accumulated Other Comprehensive Items        
Reclassification Adjustment out of Accumulated Other Comprehensive Items [Line Items]        
Net Income (66) (96) (2) (93)
Reclassification out of Accumulated Other Comprehensive Items | Pension and Other Post-retirement Plans [Member]        
Reclassification Adjustment out of Accumulated Other Comprehensive Items [Line Items]        
Total expense before income taxes (15) (16) (32) (32)
Income tax benefit 4 4 128 8
Net Income (11) (12) 96 (24)
Reclassification out of Accumulated Other Comprehensive Items | Recognized net actuarial loss        
Reclassification Adjustment out of Accumulated Other Comprehensive Items [Line Items]        
Other expense, net (14) (16) (29) (32)
Reclassification out of Accumulated Other Comprehensive Items | Amortization of prior service cost        
Reclassification Adjustment out of Accumulated Other Comprehensive Items [Line Items]        
Other expense, net (1) 0 (3) 0
Reclassification out of Accumulated Other Comprehensive Items | Cash Flow Hedges        
Reclassification Adjustment out of Accumulated Other Comprehensive Items [Line Items]        
Total expense before income taxes (72) (122) (129) (102)
Income tax benefit 17 38 31 33
Net Income (55) (84) (98) (69)
Reclassification out of Accumulated Other Comprehensive Items | Cash Flow Hedges | Interest rate swap agreements        
Reclassification Adjustment out of Accumulated Other Comprehensive Items [Line Items]        
Interest expense (72) 7 (106) 27
Reclassification out of Accumulated Other Comprehensive Items | Cash Flow Hedges | Forward currency-exchange contracts        
Reclassification Adjustment out of Accumulated Other Comprehensive Items [Line Items]        
Cost of revenues $ 0 $ (129) $ (23) $ (129)