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Stock-based Compensation and Other Stock Plans - Performance Share Unit and Restricted Stock Awards Narrative (Details) - USD ($) $ / shares in Units, $ in Millions | 6 Months Ended
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Jul. 03, 2021 | Jun. 27, 2020
Performance Awards |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Weighted average contractual term (in years) | 3 years |
Maximum stock percentage to be awarded | 100.00% |
Performance period | 3 years |
Weighted-average grant date fair value granted (in dollars per share) | $ 187.12 | $ 155.34
Performance awards shares paid out (in shares) | 0 | 21,184
Unrecognized compensation cost related to non-vested award | $ 22.7 |
Cost expected to be recognized over weighted-average period, in years | 2 years 3 months 18 days |
Restricted Stock Units |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Weighted average contractual term (in years) | 3 years |
Cliff vesting schedule | 3 years |

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