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Senior Notes (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 28, 2020
Dec. 28, 2019
Mar. 30, 2019
Aug. 14, 2017
Debt Instrument [Line Items]        
Senior Notes $ 150.0 $ 150.0 $ 150.0 $ 150.0
Senior Notes, Maturity Date Aug. 14, 2029      
Senior Notes, Interest Rate 3.70%      
Shelf Note - Amount $ 150.0      
Shelf Notes - Maximum Maturity Date Range - in years 12 years      
Shelf Notes - Maximum Issuance Date August 14, 2020      
Debt Instrument, Percentage of Principal Amount Redeemable 100.00%      
Shelf Notes - Additional Interest Rate Notes plus 0.50%