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Stock-based Compensation and Other Stock Plans - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 27, 2020
Jun. 29, 2019
Jun. 27, 2020
Jun. 29, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Net stock-based compensation expense $ 5.8 $ 6.8 $ 6.9 $ 14.1
Cash received from stock purchase and option plan exercises 12.3 19.8 13.8 24.6
Tax benefit realized from exercise and vesting of share-based payment arrangements $ 0.8 $ 1.9 $ 2.3 $ 4.6
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) 1,424,015   1,424,015