Stock-based Compensation and Other Stock Plans - Narrative (Details) - USD ($) $ in Millions	3 Months Ended	6 Months Ended
Jul. 03, 2021	Jun. 27, 2020	Jul. 03, 2021	Jun. 27, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Net stock-based compensation expense	$ 11.5	$ 5.8	$ 23.8	$ 6.9
Cash received from stock purchase and option plan exercises	61.8	12.3	154.8	13.8
Tax benefit realized from exercise and vesting of share-based payment arrangements	$ 6.2	$ 0.8	$ 13.9	$ 2.3
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)	3,634,380		3,634,380

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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