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Share-Based Awards - Options Fair Value Inputs (Details) - Stock Option - $ / shares
6 Months Ended
Jun. 30, 2023
Jul. 01, 2022
Fair Value Assumptions and Methodology [Abstract]    
Expected life in years 6 years 8 months 12 days 7 years 3 months 18 days
Interest rate 4.00% 1.90%
Volatility 26.30% 25.50%
Dividend yield 1.30% 1.20%
Weighted average fair value per share (in dollars per share) $ 21.76 $ 19.06