Stock-based Compensation and Other Stock Plans - Narrative (Details) - USD ($) $ in Millions	3 Months Ended	6 Months Ended
Jun. 29, 2019	Jun. 30, 2018	Jun. 29, 2019	Jun. 30, 2018
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Net stock-based compensation expense	$ 6.8	$ 7.9	$ 14.1	$ 14.6
Cash received from stock purchase and option plan exercises	19.8	16.8	24.6	28.3
Tax benefit realized from exercise and vesting of share-based payment arrangements	$ 1.9	$ 2.5	$ 4.6	$ 7.6
2011 Incentive Stock and Awards Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares available for grant (in shares)	2,006,598		2,006,598

Amount of tax benefit for recognition of expense of award under share-based payment arrangement.

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Amount of cash inflow from exercise of option under share-based payment arrangement.

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Amount of noncash expense for share-based payment arrangement.

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The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable.

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