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Stock-based Compensation and Other Stock Plans - Stock Options Narrative (Details) - Stock Option - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended
Apr. 03, 2021
Mar. 28, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Weighted average contractual term (in years) 10 years  
Weighted-average grant date fair value granted (in dollars per share) $ 26.19 $ 22.95
Intrinsic value of stock exercised $ 30.8 $ 1.4
Fair value of stock vested 12.5 $ 14.6
Unrecognized compensation cost related to non-vested award $ 18.7  
Cost expected to be recognized over weighted-average period, in years 2 years 1 month 6 days