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Stock-Based Compensation - Summary of Stock-Based Compensation Expense (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 28, 2019
Jun. 29, 2018
Jun. 28, 2019
Jun. 29, 2018
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Pretax compensation expense $ 15.9 $ 13.4 $ 28.8 $ 24.4
Income tax benefit (3.3) (2.8) (6.1) (5.1)
Total stock-based compensation expense 12.6 10.6 22.7 19.3
Stock Awards        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Pretax compensation expense 10.1 7.9 17.9 14.4
Income tax benefit (2.1) (1.6) (3.8) (3.0)
Total stock-based compensation expense 8.0 6.3 14.1 11.4
Stock options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Pretax compensation expense 5.8 5.5 10.9 10.0
Income tax benefit (1.2) (1.2) (2.3) (2.1)
Total stock-based compensation expense $ 4.6 $ 4.3 $ 8.6 $ 7.9