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Stock-based Compensation and Other Stock Plans - Employee Stock Purchase Plan Narrative (Details) - Employee Stock - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 29, 2024
Jul. 01, 2023
Jun. 29, 2024
Jul. 01, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Shares issued in period (in shares)     21,798 27,225
Shares reserved for future issuance (in shares) 529,800   529,800  
Participant contributions held $ 0.4   $ 0.4  
Compensation (benefit) expense $ (0.2) $ 0.5 $ 0.1 $ 1.0