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Stock-based Compensation and Other Stock Plans - Employee Stock Purchase Plan Narrative (Details) - USD ($) | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jul. 03, 2021 | Jun. 27, 2020 | Jul. 03, 2021 | Jun. 27, 2020
Employee Stock |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Shares issued in period (in shares) |  |  | 82,286 | 25,425
Shares reserved for future issuance (in shares) | 597,275 |  | 597,275 |
Participant contributions held | $ 500,000 |  | $ 500,000 |
Compensation expense | $ 4,800,000 | $ 0 | $ 9,600,000 | $ (100,000)
Franchise Stock |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Shares issued in period (in shares) |  |  | 143,388 | 55,980
Shares reserved for future issuance (in shares) | 270,162 |  | 270,162 |
Participant contributions held | $ 1,300,000 |  | $ 1,300,000 |
Compensation expense | $ 11,300,000 | $ 0 | $ 16,700,000 | $ (200,000)

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