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CONDENSED CONSOLIDATED STATEMENTS OF SHAREHOLDERS' EQUITY (Parenthetical) - $ / shares
3 Months Ended
Mar. 28, 2020
Mar. 30, 2019
Increase (Decrease) in Stockholders' Equity    
Cash dividends per share - semiannually (USD per share) $ 0.125  
Issuance of shares under employee stock plans (in shares) 10,549 10,259
Issuance of shares under stock grant programs (in shares) 350,124 320,069
Issuance of shares under deferred compensation plans (in shares) 89,616 138,295
Repurchase of shares (in shares) 756,397