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Stock-based Compensation and Other Stock Plans - Stock Options Narrative (Details) - Stock Option - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended
Mar. 28, 2020
Mar. 30, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Weighted average contractual term (in years) 10 years  
Weighted-average grant date fair value granted (in dollars per share) $ 22.95 $ 29.98
Intrinsic value of stock exercised $ 1.4 $ 4.9
Fair value of stock vested 14.6 $ 15.7
Unrecognized compensation cost related to non-vested award $ 22.6  
Cost expected to be recognized over weighted-average period, in years 2 years 2 months 12 days