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Accumulated Other Comprehensive Items - Reclassification Out of AOCI (Details) - USD ($)
$ in Thousands
 3 Months Ended
Apr. 03, 2021
Mar. 28, 2020
Reclassification Adjustment out of Accumulated Other Comprehensive Items [Line Items]    
Other expense, net $ (24) $ (32)
Interest expense (1,111) (2,459)
Cost of revenues (96,748) (90,804)
Total expense before income taxes 22,357 17,215
Income tax benefit (5,561) (4,559)
Net Income 16,796 12,656
Reclassification out of Accumulated Other Comprehensive Items    
Reclassification Adjustment out of Accumulated Other Comprehensive Items [Line Items]    
Net Income (93) 64
Reclassification out of Accumulated Other Comprehensive Items | Post-retirement Benefit Plans    
Reclassification Adjustment out of Accumulated Other Comprehensive Items [Line Items]    
Total expense before income taxes (14) (17)
Income tax benefit 4 124
Net Income (10) 107
Reclassification out of Accumulated Other Comprehensive Items | Recognized net actuarial loss    
Reclassification Adjustment out of Accumulated Other Comprehensive Items [Line Items]    
Other expense, net (11) (15)
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 (3) (2)
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 (109) (57)
Income tax benefit 26 14
Net Income (83) (43)
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 (109) (34)
Reclassification out of Accumulated Other Comprehensive Items | Cash Flow Hedges | Forward currency-exchange contract    
Reclassification Adjustment out of Accumulated Other Comprehensive Items [Line Items]    
Cost of revenues $ 0 $ (23)