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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 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]        
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 $ 4.0 $ 3.9 $ 8.7 $ 16.2
Fair value of stock vested     14.6 $ 15.7
Unrecognized compensation cost related to non-vested award $ 16.3   $ 16.3  
Cost expected to be recognized over weighted-average period, in years     1 year 8 months 12 days