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CONDENSED CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($)
$ in Millions
Jul. 03, 2021
Dec. 31, 2020
Statement of Financial Position [Abstract]    
Income taxes receivable $ 30.1 $ 27.3
Common stock issued (in shares) 52,855,255 52,704,973
Common stock outstanding (in shares) 45,304,445 45,032,325
Treasury stock (in shares) 7,550,810 7,672,648