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Stock-Based Compensation Plans - Employee Stock Purchase Plan (Details) - Employee Stock Purchase Plan - USD ($)
$ / shares in Units, shares in Millions
 12 Months Ended
Jan. 01, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Stock-Based Compensation Plans - Disclosures        
Maximum value of company common stock that can be purchased by an employee per year   $ 25,000    
Employee purchase price as a percent of fair market value (as a percent) 90.00% 85.00%    
Share purchases under employee stock purchase plan (in shares)   1.0 1.4 0.9
Weighted-average fair value of discount on employee stock purchase plan (in dollars per share)   $ 15.64 $ 11.33 $ 11.37
Intrinsic value from shares settled   $ 15,300,000 $ 15,500,000 $ 9,700,000
Cash received from shares issued   46,500,000 37,800,000 36,200,000
Tax benefits realized from the settlement of share-based payment arrangements   $ 1,300,000 $ 900,000 $ 900,000
Shares available to be issued under employee stock purchase plan (in shares)   4.0