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Defined Benefit Pension Plans - Schedule of Net Benefit Costs (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jul. 01, 2022
Jun. 30, 2023
Jul. 01, 2022
Retirement Benefits [Abstract]        
Service cost [1] $ 254 $ 309 $ 503 $ 635
Interest cost [2] 90 21 177 41
Expected return on plan assets [2] (91) (123) (178) (241)
Prior service credit [2],[3] (45) (46) (90) (91)
Actuarial loss recognized in current period [2],[3] (6) 79 (13) 176
Net periodic pension cost $ 202 $ 240 $ 399 $ 520
[1] Recognized in selling general and administrative expenses on the Condensed Consolidated Statements of Income.
[2] Recognized in other expense, net on the Condensed Consolidated Statements of Income.
[3] Amounts reclassified from accumulated other comprehensive income (loss).