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Business Segment Information - Restructuring and Other Action-Related Charges by Income Statement Line (Details) - USD ($)
$ in Thousands
3 Months Ended
Apr. 01, 2023
Apr. 02, 2022
Cost of sales    
Segment Reporting, Other Significant Reconciling Item [Line Items]    
Restructuring and other action-related charges $ 4,523 $ 499
Selling, general and administrative expenses    
Segment Reporting, Other Significant Reconciling Item [Line Items]    
Restructuring and other action-related charges 1,598 4,303
Total included in operating profit    
Segment Reporting, Other Significant Reconciling Item [Line Items]    
Restructuring and other action-related charges 6,121 4,802
Total included in income tax expense (benefit)    
Segment Reporting, Other Significant Reconciling Item [Line Items]    
Restructuring and other action-related charges 0 816
Total restructuring and other action-related charges    
Segment Reporting, Other Significant Reconciling Item [Line Items]    
Restructuring and other action-related charges 13,217 3,986
Income (loss) from continuing operations before income tax expense    
Segment Reporting, Other Significant Reconciling Item [Line Items]    
Restructuring and other action-related charges 13,217 4,802
Interest expense, net    
Segment Reporting, Other Significant Reconciling Item [Line Items]    
Restructuring and other action-related charges (1,254) 0
Other Expense    
Segment Reporting, Other Significant Reconciling Item [Line Items]    
Restructuring and other action-related charges $ 8,350 $ 0