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Business Segment Information - Restructuring and Other Action-Related Charges by Income Statement Line (Details) - USD ($)
$ in Thousands
3 Months Ended
Apr. 02, 2022
Apr. 03, 2021
Cost of sales    
Segment Reporting, Other Significant Reconciling Item [Line Items]    
Restructuring and other action-related charges $ 499 $ 2,807
Selling, general and administrative expenses    
Segment Reporting, Other Significant Reconciling Item [Line Items]    
Restructuring and other action-related charges 4,303 16,586
Total included in operating profit    
Segment Reporting, Other Significant Reconciling Item [Line Items]    
Restructuring and other action-related charges 4,802 19,393
Total included in income tax expense (benefit)    
Segment Reporting, Other Significant Reconciling Item [Line Items]    
Restructuring and other action-related charges 816 11,302
Total restructuring and other action-related charges    
Segment Reporting, Other Significant Reconciling Item [Line Items]    
Restructuring and other action-related charges $ 3,986 $ 8,091