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Stock-Based Compensation - Stock Option Activity (Details) - Employee and director stock options [Member]
$ / shares in Units, shares in Thousands, $ in Thousands
 6 Months Ended
Jul. 01, 2017
USD ($)
$ / shares
shares
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]  
Outstanding at beginning of period (in shares) | shares 177
Granted (in shares) | shares 0
Exercised (in shares) | shares (89)
Forfeited (in shares) | shares 0
Outstanding at end of period (in shares) | shares 88
Ending balance, options exercisable (in shares) | shares 88
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]  
Outstanding at beginning of period (in dollars per share) | $ / shares $ 57.19
Granted (in dollars per share) | $ / shares 0
Exercised (in dollars per share) | $ / shares 55.11
Forfeited (in dollars per share) | $ / shares 0
Outstanding at end of period (in dollars per share) | $ / shares 59.31
Ending balance, options exercisable (in dollars per share) | $ / shares $ 59.31
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]  
Weighted average remaining contractual life, options outstanding (in years) 8 months 12 days
Weighted average remaining contractual life, options exercisable (in years) 8 months 12 days
Stock option outstanding aggregate intrinsic value as of period end | $ $ 10,798
Stock option exercisable aggregate intrinsic value as of period end | $ $ 10,798