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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 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]        
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 $ 3.3 $ 7.4 $ 4.7 $ 12.3
Fair value of stock vested     14.6 $ 15.7
Unrecognized compensation cost related to non-vested award $ 19.5   $ 19.5  
Cost expected to be recognized over weighted-average period, in years     2 years