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Stock-Based Compensation Expense - Schedule of Stock-Based Compensation Expense (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 28, 2019
Sep. 29, 2018
Sep. 28, 2019
Sep. 29, 2018
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Total stock-based compensation expense $ 4,146 $ 3,356 $ 12,034 $ 10,098
Income tax benefit 984 802 2,948 2,454
Total stock-based compensation expense, net of tax 3,162 2,554 9,086 7,644
Time-based, Performance-based and Market-based Stock Awards        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Total stock-based compensation expense 3,527 2,759 10,256 8,247
Employee Stock Option        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Total stock-based compensation expense $ 619 $ 597 $ 1,778 $ 1,851