Stock-based Compensation and Other Stock Plans - Summary of Changes in Stock-Settled SARs (Details) - Stock-Settled SARs $ / shares in Units, shares in Thousands, $ in Millions	3 Months Ended
	Mar. 28, 2020 USD ($) $ / shares shares
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]
Beginning balance (in shares) | shares	450
Granted (in shares) | shares	92
Exercised (in shares) | shares	0
Forfeited or expired (in shares) | shares	(1)
Ending balance (in shares) | shares	541
Exercisable (in shares) | shares	358
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]
Beginning balance (in dollars per share) | $ / shares	$ 149.18
Granted (in dollars per share) | $ / shares	155.34
Exercised (in dollars per share) | $ / shares	0
Forfeited or expired (in dollars per share) | $ / shares	129.37
Ending balance (in dollars per share) | $ / shares	150.32
Exercisable (in dollars per share) | $ / shares	$ 147.18
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Additional Disclosures [Abstract]
Outstanding, remaining contractual term	7 years 2 months 12 days
Outstanding, aggregate intrinsic value | $	$ 0.4
Exercisable, remaining contractual term	6 years 2 months 12 days
Exercisable, aggregate intrinsic value | $	$ 0.4