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Stock-based Compensation and Other Stock Plans - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Oct. 01, 2022
Oct. 02, 2021
Oct. 01, 2022
Oct. 02, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Net stock-based compensation expense $ 8.1 $ 9.5 $ 25.6 $ 33.3
Cash received from stock purchase and option plan exercises 12.2 3.6 41.4 158.4
Tax benefit realized from exercise and vesting of share-based payment arrangements $ 3.3 $ 2.2 $ 7.2 $ 16.1
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) 3,116,000   3,116,000