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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 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]        
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 $ 28.1 $ 3.3 $ 58.9 $ 4.7
Fair value of stock vested     12.5 $ 14.6
Unrecognized compensation cost related to non-vested award $ 15.5   $ 15.5  
Cost expected to be recognized over weighted-average period, in years     1 year 10 months 24 days