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Stock-based Compensation and Other Stock Plans - Stock Appreciation Rights Narrative (Details) - USD ($)
 3 Months Ended 6 Months Ended
Jul. 01, 2023
Jul. 02, 2022
Jul. 01, 2023
Jul. 02, 2022
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)     $ 76.12  
Intrinsic value of stock exercised $ 0 $ 200,000 $ 400,000 $ 600,000
Fair value of stock vested     100,000 $ 100,000
Unrecognized compensation cost related to non-vested award 200,000   $ 200,000  
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)     $ 48.85 $ 32.63
Intrinsic value of stock exercised 2,600,000 $ 500,000 $ 4,800,000 $ 700,000
Fair value of stock vested     1,900,000 $ 2,000,000
Unrecognized compensation cost related to non-vested award $ 4,200,000   $ 4,200,000  
Cost expected to be recognized over weighted-average period (in years)     1 year 10 months 24 days