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Share-Based Compensation Plans - Company's stock option activity (Details) - Employee stock option - USD ($)
 9 Months Ended
Sep. 29, 2023
Sep. 30, 2023
Share-Based Compensation Plans    
Shares, Outstanding at beginning of period   1,345,369
Shares, Granted   149,200
Shares, Exercised   (404,564)
Shares, Forfeited or expired   (31,890)
Shares, Outstanding at end of period   1,058,115
Shares, Exercisable at end of period   609,387
Weighted Average Exercise Price, Outstanding at beginning of period (in dollars per share)   $ 25.83
Weighted Average Exercise Price, Granted (in dollars per share)   25.79
Weighted Average Exercise Price, Exercised (in dollars per share)   25.36
Weighted Average Exercise Price, Forfeited or expired (in dollars per share)   25.59
Weighted Average Exercise Price, Outstanding at end of period (in dollars per share)   26.02
Weighted Average Exercise Price, Exercisable at end of period (in dollars per share)   $ 26.82
Weighted Average Remaining Contractual Term (Years), Outstanding   6 years 10 months 24 days
Weighted Average Remaining Contractual Term (Years), Exercisable, Outstanding   5 years 8 months 12 days
Aggregate Intrinsic Value, Outstanding   $ 1,682,000
Aggregate Intrinsic Value, Exercisable   $ 1,041,000
Fair market value of options granted (in dollars per share) $ 25.35