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Stock-based Compensation and Other Stock Plans - Performance Share Unit and Restricted Stock Unit Narrative (Details) - USD ($) $ / shares in Units, $ in Millions | 9 Months Ended
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Sep. 30, 2023 | Oct. 01, 2022
Performance Awards |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Weighted average contractual term (in years) | 3 years |
Maximum stock percentage to be awarded | 100.00% |
Performance period | 3 years |
Weighted-average grant date fair value granted (in dollars per share) | $ 249.26 | $ 204.87
Performance awards shares paid out (in shares) | 60,402 | 46,217
Unrecognized compensation cost related to non-vested award | $ 20.6 |
Cost expected to be recognized over weighted-average period (in years) | 1 year |
Restricted Stock Units |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Weighted average contractual term (in years) | 3 years |
Cliff vesting schedule | 3 years |
Weighted-average grant date fair value granted (in dollars per share) | $ 249.26 | $ 211.67
Unrecognized compensation cost related to non-vested award | $ 8.1 |
Cost expected to be recognized over weighted-average period (in years) | 1 year 2 months 12 days |

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