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Accumulated Other Comprehensive Income (Loss) and Shareholders' Equity - Components (Details) - USD ($)
$ in Thousands
 6 Months Ended
Jun. 27, 2020
Jun. 29, 2019
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]    
Beginning balance $ 584,368 $ 563,259
Other comprehensive income (loss) before reclassifications (3,402) (914)
Tax (expense) or benefit 679 370
Amounts reclassified from accumulated other comprehensive income (loss), net of tax (29) (692)
Ending balance 553,069 529,509
Foreign Currency Translation Adjustment    
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]    
Beginning balance (2,912) (2,973)
Other comprehensive income (loss) before reclassifications (555) 630
Tax (expense) or benefit 0 0
Reclassification of stranded tax impact   0
Amounts reclassified from accumulated other comprehensive income (loss), net of tax 0 0
Ending balance (3,467) (2,343)
Unrealized Gains (Losses) on Debt Securities    
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]    
Beginning balance 95 (156)
Other comprehensive income (loss) before reclassifications 382 273
Tax (expense) or benefit (80) (57)
Reclassification of stranded tax impact   0
Amounts reclassified from accumulated other comprehensive income (loss), net of tax 0 0
Ending balance 397 60
Pension and Post-retirement Liabilities    
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]    
Beginning balance (5,762) (2,929)
Other comprehensive income (loss) before reclassifications 0 0
Tax (expense) or benefit 0 0
Reclassification of stranded tax impact   (1,185)
Amounts reclassified from accumulated other comprehensive income (loss), net of tax 0 0
Ending balance (5,762) (4,114)
Derivative Financial Instruments    
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]    
Beginning balance 506 2,459
Other comprehensive income (loss) before reclassifications (3,229) (1,817)
Tax (expense) or benefit 759 427
Reclassification of stranded tax impact   446
Amounts reclassified from accumulated other comprehensive income (loss), net of tax (29) (692)
Ending balance (1,993) 823
Accumulated Other Comprehensive Income (Loss)    
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]    
Beginning balance (8,073) (3,599)
Reclassification of stranded tax impact   (739)
Ending balance $ (10,825) $ (5,574)