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Stock-based Compensation and Other Stock Plans - Narrative (Details) - USD ($) $ in Millions | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2023 | Oct. 01, 2022 | Sep. 30, 2023 | Oct. 01, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Net stock-based compensation expense | $ 11.0 | $ 8.1 | $ 31.4 | $ 25.6
Cash received from stock purchase and option plan exercises | 9.9 | 12.2 | 94.5 | 41.4
Tax benefit realized from exercise and vesting of share-based payment arrangements | $ 2.6 | $ 3.3 | $ 13.1 | $ 7.2
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) | 2,633,565 |  | 2,633,565 |

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