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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 | 6 Months Ended
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Jul. 02, 2022 | Jul. 03, 2021 | Jul. 02, 2022 | Jul. 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) |  |  | $ 31.67 |
Intrinsic value of stock exercised | $ 0.2 | $ 0.1 | $ 0.6 | $ 0.6
Fair value of stock vested |  |  | 0.1 | $ 0.1
Unrecognized compensation cost related to non-vested award | 0.1 |  | $ 0.1 |
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) |  |  | $ 32.63 | $ 24.05
Intrinsic value of stock exercised | 0.5 | $ 0.8 | $ 0.7 | $ 3.0
Fair value of stock vested |  |  | 2.0 | $ 2.1
Unrecognized compensation cost related to non-vested award | $ 3.4 |  | $ 3.4 |
Cost expected to be recognized over weighted-average period (in years) |  |  | 1 year 10 months 24 days |

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- Definition Share based compensation arrangement by share based payment award equity instruments other than options exercises in period intrinsic value. + References No definition available. + Details
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- Definition Share based compensation arrangement by share based payment award equity instruments other than options weighted average contractual term. + References No definition available. + Details
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- Definition Amount of cost not yet recognized for nonvested award under share-based payment arrangement. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Fair value of share-based awards for which the grantee gained the right by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d)(2) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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