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Accumulated Other Comprehensive Income (Loss) and Shareholders' Equity - Components (Details) - USD ($)
$ in Thousands
 3 Months Ended
Apr. 03, 2021
Mar. 28, 2020
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]    
Beginning balance $ 590,745 $ 584,368
Other comprehensive income (loss) before reclassifications (129) (3,281)
Tax (expense) or benefit (4) 632
Amounts reclassified from accumulated other comprehensive income (loss), net of tax 164 (108)
Ending balance 617,761 551,655
Foreign Currency Translation Adjustment    
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]    
Beginning balance (1,071) (2,912)
Other comprehensive income (loss) before reclassifications (132) (600)
Tax (expense) or benefit 0 0
Amounts reclassified from accumulated other comprehensive income (loss), net of tax 0 0
Ending balance (1,203) (3,512)
Unrealized Gains (Losses) on Debt Securities    
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]    
Beginning balance 360 95
Other comprehensive income (loss) before reclassifications (127) 75
Tax (expense) or benefit 27 (16)
Amounts reclassified from accumulated other comprehensive income (loss), net of tax 0 0
Ending balance 260 154
Pension and Post-retirement Liabilities    
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]    
Beginning balance (6,682) (5,762)
Other comprehensive income (loss) before reclassifications 0 0
Tax (expense) or benefit 0 0
Amounts reclassified from accumulated other comprehensive income (loss), net of tax 0 0
Ending balance (6,682) (5,762)
Derivative Financial Instruments    
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]    
Beginning balance (1,760) 506
Other comprehensive income (loss) before reclassifications 130 (2,756)
Tax (expense) or benefit (31) 648
Amounts reclassified from accumulated other comprehensive income (loss), net of tax 164 (108)
Ending balance (1,497) (1,710)
Accumulated Other Comprehensive Income (Loss)    
Accumulated Other Comprehensive Income (Loss), Net of Tax [Roll Forward]    
Beginning balance (9,153) (8,073)
Ending balance $ (9,122) $ (10,830)