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Stock-based Compensation and Other Stock Plans - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jul. 01, 2023
Jul. 02, 2022
Jul. 01, 2023
Jul. 02, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Net stock-based compensation expense $ 10.2 $ 8.5 $ 20.4 $ 17.5
Cash received from stock purchase and option plan exercises 51.8 23.4 84.6 29.2
Tax benefit realized from exercise and vesting of share-based payment arrangements $ 5.4 $ 1.8 $ 10.5 $ 3.9
2011 Incentive Stock and Awards Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Number of shares available for grant (in shares) 2,629,450   2,629,450