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CONDENSED CONSOLIDATED STATEMENTS OF SHAREHOLDERS' EQUITY (Parenthetical) - $ / shares
3 Months Ended
Mar. 27, 2021
Mar. 28, 2020
Increase (Decrease) in Stockholders' Equity    
Cash dividends per share (USD per share) $ 0.15 $ 0.125
Issuance of shares under employee stock plans (in shares) 5,816 10,549
Issuance of shares under stock grant programs (in shares) 536,970 350,124
Issuance of shares under deferred compensation plans (in shares) 89,690 89,616
Repurchase of shares (in shares)   756,397