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Defined Benefit Pension Plans - Schedule of Net Benefit Costs (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jul. 03, 2020
Jun. 28, 2019
Jul. 03, 2020
Jun. 28, 2019
Compensation And Retirement Disclosure [Abstract]        
Service cost [1] $ 320 $ 248 $ 639 $ 480
Interest cost [2] 11 20 22 40
Expected return on plan assets [2] (46) (34) (89) (67)
Prior service credit [2],[3] (8) (5) (17) (11)
Actuarial loss recognized in current period [2],[3] 80 33 159 65
Net periodic pension cost $ 357 $ 262 $ 714 $ 507
[1] Recognized in selling general and administrative expenses on the Condensed Consolidated Statements of Income.
[2] Recognized in other income (expense), net on the Condensed Consolidated Statements of Income.
[3] Amounts reclassified from accumulated other comprehensive income (loss).