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Fair Value and Derivative Instruments - Gains and Losses Related to Non-designated Derivative Instruments (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 26, 2020
Sep. 28, 2019
Sep. 26, 2020
Sep. 28, 2019
Derivatives Not Designated as Hedging Instruments | Foreign exchange forward contracts | Location of Gain (Loss) Recognized on Derivatives        
Derivatives, Fair Value [Line Items]        
Derivatives Not Designated as Hedging Instruments $ 529 $ (76) $ 878 $ 198