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Stock-based Compensation and Other Stock Plans - Stock Appreciation Rights Narrative (Details) - USD ($)
3 Months Ended 6 Months Ended
Jul. 03, 2021
Jun. 27, 2020
Jul. 03, 2021
Jun. 27, 2020
Stock Appreciation Rights (SARs)        
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)     $ 44.24  
Intrinsic value of stock exercised $ 100,000 $ 100,000 $ 600,000 $ 200,000
Fair value of stock vested     100,000 $ 0
Unrecognized compensation cost related to non-vested award 100,000   $ 100,000  
Cost expected to be recognized over weighted-average period, in years     1 year 10 months 24 days  
Stock-Settled SARs        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Weighted-average grant date fair value granted (in dollars per share)     $ 24.05 $ 21.31
Intrinsic value of stock exercised 800,000 $ 0 $ 3,000,000.0 $ 0
Fair value of stock vested     2,100,000 $ 2,300,000
Unrecognized compensation cost related to non-vested award $ 3,200,000   $ 3,200,000  
Cost expected to be recognized over weighted-average period, in years     1 year 10 months 24 days