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Stock-based Compensation and Other Stock Plans - Stock Appreciation Rights Narrative (Details) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended
Apr. 02, 2022
Apr. 03, 2021
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) $ 32.31  
Intrinsic value of stock exercised $ 0.4 $ 0.5
Fair value of stock vested 0.1 $ 0.1
Unrecognized compensation cost related to non-vested award $ 0.1  
Cost expected to be recognized over weighted-average period (in years) 2 years 2 months 12 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) $ 32.63 $ 24.05
Intrinsic value of stock exercised $ 0.2 $ 2.2
Fair value of stock vested 2.0 $ 2.1
Unrecognized compensation cost related to non-vested award $ 4.1  
Cost expected to be recognized over weighted-average period (in years) 2 years 2 months 12 days