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Stock-based Compensation and Other Stock Plans - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 28, 2020
Mar. 30, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Net stock-based compensation expense $ 1.1 $ 7.3
Cash received from stock purchase and option plan exercises 1.5 4.8
Tax benefit realized from exercise and vesting of share-based payment arrangements $ 1.5 $ 2.7
2011 Incentive Stock and Awards Plan    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Number of shares available for grant (in shares) 1,421,784