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Stock-Based Compensation - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jul. 04, 2021
Jun. 28, 2020
Jul. 04, 2021
Jun. 28, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Compensation expense (benefit) $ 1.4 $ 1.2 $ 2.8 $ 2.4
Related tax benefit (expense) $ 0.3 $ 0.2 $ 0.4 $ 0.0