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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 9 Months Ended
Oct. 02, 2021
Sep. 26, 2020
Oct. 02, 2021
Sep. 26, 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 $ 8.6 $ 4.0 $ 67.5 $ 8.7
Fair value of stock vested     12.5 $ 14.6
Unrecognized compensation cost related to non-vested award $ 12.8   $ 12.8  
Cost expected to be recognized over weighted-average period (in years)     1 year 7 months 6 days