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Stock-based Compensation and Other Stock Plans - Narrative (Details) - USD ($)
$ in Millions
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]        
Net stock-based compensation expense $ 4.6 $ 8.0 $ 18.7 $ 22.6
Cash received from stock purchase and option plan exercises 1.6 25.8 26.2 54.1
Tax benefit realized from exercise and vesting of share-based payment arrangements $ 1.0 $ 4.5 $ 5.6 $ 12.1
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) 2,007,654   2,007,654