Stock-based Compensation and Other Stock Plans - Narrative (Details) - USD ($) $ in Millions	3 Months Ended	9 Months Ended
Sep. 26, 2020	Sep. 28, 2019	Sep. 26, 2020	Sep. 28, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Net stock-based compensation expense	$ 5.6	$ 4.6	$ 12.5	$ 18.7
Cash received from stock purchase and option plan exercises	2.7	1.6	16.5	26.2
Tax benefit realized from exercise and vesting of share-based payment arrangements	$ 1.0	$ 1.0	$ 3.3	$ 5.6
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)	1,429,213		1,429,213

Amount of tax benefit for recognition of expense of award under share-based payment arrangement.

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Amount of cash inflow from exercise of option under share-based payment arrangement.

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Amount of noncash expense for share-based payment arrangement.

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The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable.

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