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Defined Benefit Pension Plans - Schedule of Net Benefit Costs (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jul. 02, 2021
Jul. 03, 2020
Jul. 02, 2021
Jul. 03, 2020
Compensation And Retirement Disclosure [Abstract]        
Service cost [1] $ 329 $ 320 $ 677 $ 639
Interest cost [2] 14 11 28 22
Expected return on plan assets [2] (101) (46) (200) (89)
Prior service credit [2],[3] (11) (8) (22) (17)
Actuarial loss recognized in current period [2],[3] 131 80 262 159
Net periodic pension cost $ 362 $ 357 $ 745 $ 714
[1] Recognized in selling general and administrative expenses on the Condensed Consolidated Statements of Operations.
[2] Recognized in other income (expense), net on the Condensed Consolidated Statements of Operations.
[3] Amounts reclassified from accumulated other comprehensive income (loss).