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Stock Based Compensation - Narrative (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Millions
3 Months Ended
Jul. 01, 2020
Mar. 31, 2023
Mar. 31, 2022
Stock Options      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Employee stock options granted during the period (in shares)   353 365
Fair value per share (in dollars per share)   $ 128.89 $ 115.83
Cash received from exercise of options   $ 24.6 $ 38.7
Restricted Stock Awards      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Restricted stock awards granted during period (in shares)   219  
Weighted average fair value per share of restricted stock awards granted during the period (in dollars per share)   $ 428.20 $ 455.84
Restricted stock awards vested during period (in shares)   82  
Weighted average grant date fair value per share (in dollars per share)   $ 376.74  
Weighted average vest date fair value per share (in dollars per share)   $ 435.75  
Employee Stock Purchase Plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Percentage of eligible earnings to purchase common stock through the employee stock purchase plan 10.00%    
Discount on the average closing price for the employee stock purchase plan 10.00%    
Shares of stock purchased during the period by participants in the employee stock purchase plan (in shares)   12 13
Amount paid for stock purchased during the period by participants in the employee stock purchase plan   $ 4.7 $ 5.5