Share-based Arrangements - Stock Options Activity (Details) - Stock Options - $ / shares	3 Months Ended	6 Months Ended
Jul. 02, 2021	Jul. 02, 2021	Jul. 03, 2020	Apr. 02, 2021	Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]
Outstanding at beginning of the period (in shares)	766,520	772,625
Granted (in shares)	0	4,990
Exercised (in shares)	(3,804)	(14,899)
Forfeited or expired (in shares)	(1,780)	(1,780)
Outstanding at end of period (in shares)	760,936	760,936
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]
Options outstanding at beginning of period, Weighted-average exercise price (in usd per share)	$ 55.15	$ 55.15		$ 55.11	$ 54.87
Granted, Weighted-average exercise price (in usd per share)	0	55.85
Exercised, Weighted-average exercise price (in usd per share)	42.86	39.79
Forfeited or expired, Weighted average exercise price (in usd per share)	64.48	64.48
Options outstanding end of period, Weighted-average exercise price (in usd per share)	$ 55.15	$ 55.15		$ 55.11	$ 54.87
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]
Expected option term		4 years 10 months 24 days	4 years 10 months 24 days
Expected volatility		35.70%	20.20%
Risk-free interest rate		0.50%	1.40%
Expected dividend yield		1.60%	1.30%
Per share fair value of options granted (in usd per share)		$ 14.89	$ 10.74

The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term.

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- Definition

The estimated measure of the percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period.