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Shareholders' Equity - Narrative (Details) - USD ($) $ in Millions | 9 Months Ended
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Oct. 03, 2021 | Oct. 04, 2020
Restricted Stock |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Stock awards granted (in shares) | 428,400 | 308,100
Stock compensation expense (benefit) | $ 2.8 | $ 0.6
Unrecognized compensation expense related to unvested restricted stock | $ 6.1 |
Restricted Stock | Minimum |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Vesting period | 1 year |
Restricted Stock | Maximum |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Vesting period | 3 years |
Performance Shares |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Stock awards granted (in shares) | 375,800 |
Stock compensation expense (benefit) | $ 1.4 | $ (2.0)
Number of shares that may be issued in settlement of the performance shares to the award recipient, upper limit (percentage) | 200.00% |
Unrecognized compensation expense related to unvested performance share awards | $ 9.0 |
Performance Shares | Minimum |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Vesting period | 1 year |
Performance Shares | Maximum |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Vesting period | 3 years |
Restricted Stock and Performance Shares |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Compensation expense, tax benefit | $ 0.8 |

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