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CONDENSED CONSOLIDATED STATEMENTS OF SHAREHOLDERS' EQUITY (Parenthetical) - $ / shares | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 26, 2020 | Sep. 28, 2019 | Sep. 26, 2020 | Sep. 28, 2019
Statement of Stockholders' Equity [Abstract] |  |  |  |
Cash dividends declared per share (in dollars per share) | $ 0.45 | $ 0.375 | $ 1.35 | $ 1.125
Purchase of treasury shares, shares acquired (in shares) | 60,645 | 126,734 | 251,136 | 433,463
Stock plan exercises; shares acquired (in shares) | 580 | 4,403 | 617 | 10,499
Stock options exercised; shares issued (in shares) | 2,616 | 12,586 | 4,100 | 28,493
Stock awards; shares issued (in shares) | 253 | 223 | 8,957 | 10,550
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