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Stock-Based Compensation and Other Stock Plans - Stock Options Narrative (Details) - Stock Option - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 28, 2019
Dec. 29, 2018
Dec. 30, 2017
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items]      
Weighted average contractual term (in years) 10 years    
Weighted-average grant date fair value granted (in dollars per share) $ 29.98 $ 30.21 $ 31.13
Intrinsic value of stock exercised $ 29.9 $ 43.8 $ 33.3
Fair value of stock vested 15.7 $ 16.0 $ 14.0
Unrecognized compensation cost related to non-vested award $ 15.6    
Cost expected to be recognized over weighted-average period (in years) 1 year 4 months 24 days