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Debt - Schedule of Debt Outstanding (Details) - USD ($)	Sep. 26, 2021	Dec. 31, 2020
Debt Instrument [Line Items]
Unamortized debt issuance costs	$ (400,000)	$ (700,000)
Total debt	49,600,000	53,400,000
Less current portion	0	0
Non-current debt	49,600,000	53,400,000
Revolving credit facility
Debt Instrument [Line Items]
Long-term debt, gross	0	4,100,000
Loan Notes
Debt Instrument [Line Items]
Long-term debt, gross	$ 50,000,000.0
Loan Notes | 4.88% Loan Notes due 2023
Debt Instrument [Line Items]
Debt stated interest rate	4.88%
Long-term debt, gross	$ 25,000,000.0	25,000,000.0
Loan Notes | 4.94% Loan Notes due 2026
Debt Instrument [Line Items]
Debt stated interest rate	4.94%
Long-term debt, gross	$ 25,000,000.0	$ 25,000,000.0

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Amount, before unamortized (discount) premium and debt issuance costs, of long-term debt. Includes, but is not limited to, notes payable, bonds payable, commercial loans, mortgage loans, convertible debt, subordinated debt and other types of debt.

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Contractual interest rate for funds borrowed, under the debt agreement.

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Amount, after accumulated amortization, of debt issuance costs. Includes, but is not limited to, legal, accounting, underwriting, printing, and registration costs.

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Amount, after unamortized (discount) premium and debt issuance costs, of long-term debt. Includes, but not limited to, notes payable, bonds payable, debentures, mortgage loans and commercial paper. Excludes capital lease obligations.

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