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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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