Share Based Compensation (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 28, 2019	Dec. 29, 2018	Dec. 30, 2017
Share-based Compensation Arrangement by Share-based Payment Award
Share-based Compensation Arrangement by Share-based Payment Award, Plan Modification, Description and Terms	0	0	0
Number of shares available for future equity awards (in shares)	11,800,000
Share-based compensation	$ 31,136	$ 28,921	$ 29,202
Vesting Term, Minimum	1 year
Vesting Term, Maximum	3 years
Payments Related to Tax Withholding for Share-based Compensation	$ 3,818	$ 1,367	$ 816
Key assumptions in fair value determination
Stock option expiration date (in years)	ten
Stock options, additional disclosures
Weighted average fair value, Granted (in dollars per share)	$ 20.80
Weighted average remaining contractual term, Outstanding, end of period (in years)	6 years 9 months 18 days	7 years
Weighted average remaining contractual term, Exercisable, end of period (in years)	5 years 10 months 24 days
Aggregate intrinsic value, Outstanding, beginning of period	$ 46,472
Aggregate intrinsic value, Outstanding, end of period	47,834	$ 46,472
Aggregate intrinsic value, Exercisable at end of period	28,502
Employee Stock Option
Share-based Compensation Arrangement by Share-based Payment Award
Total unrecognized compensation	$ 7,700
Remaining weighted average expense recognition period (in years)	1 year 7 months 6 days
Key assumptions in fair value determination
Expected price volatility, minimum (in hundredths)	26.40%	26.40%	25.10%
Expected price volatility, maximum (in hundredths)	27.60%	27.00%	26.00%
Risk-free interest rate, minimum (in hundredths)	1.60%	2.50%	1.70%
Risk-free interest rate, maximum (in hundredths)	2.50%	3.00%	1.90%
Forfeiture rate, minimum (in hundredths)	7.30%	7.30%	7.20%
Forfeiture rate, maximum (in hundredths)	7.30%	7.30%	7.20%
Dividend yield, minimum (in hundredths)	1.40%	1.60%	1.30%
Dividend yield, maximum (in hundredths)	1.40%	1.60%	1.30%
Stock option expiration date (in years)		10	10
Stock option activity
Outstanding, beginning of period (in shares)	4,053,386
Granted (in shares)	395,701
Exercised (in shares)	(1,556,917)
Canceled (in shares)	(74,651)
Outstanding, end of period (in shares)	2,817,519	4,053,386
Exercisable, end of period (in shares)	1,629,075
Stock options, additional disclosures
Weighted average exercise price, Outstanding, beginning of period (in dollars per share)	$ 72.49
Weighted average exercise price, Granted (in dollars per share)	89.78
Weighted average exercise price, Exercised (in dollars per share)	71.52
Weighted average exercise price, Cancelled (in dollars per share)	76.56
Weighted average exercise price, Outstanding, end of period (in dollars per share)	75.34	$ 72.49
Weighted average exercise price, Exercisable, end of period (in dollars per share)	$ 74.81
Other information relative to option activity
Total fair value of stock options vested	$ 16,060	$ 18,247	$ 15,996
Total intrinsic value of stock options exercised	$ 45,101	$ 43,476	$ 9,237
Employee Stock Option | Minimum
Key assumptions in fair value determination
Weighted average expected lives (in years)	4 years 6 months	4 years 6 months	4 years 4 months 24 days
Employee Stock Option | Maximum
Key assumptions in fair value determination
Weighted average expected lives (in years)	4 years 6 months	4 years 6 months	4 years 4 months 24 days
Employee Stock Purchase Plan
Share-based Compensation Arrangement by Share-based Payment Award
Share-based compensation	$ 1,100	$ 1,100	$ 1,000
Discount rate of employee stock purchase plan (in hundredths)	15.00%
Shares of common stock issued for employee stock purchase plan (in shares)	61,678	77,458	83,155
Shares of common stock reserved for future issuance under the ESPP (in shares)	11,900,000
Employee Stock Purchase Plan | Maximum
Share-based Compensation Arrangement by Share-based Payment Award
Shares of common stock reserved for future issuance under the ESPP (in shares)	16,000,000.0
Restricted Stock Units (RSUs) [Member]
Share-based Compensation Arrangement by Share-based Payment Award
Total unrecognized compensation	$ 19,600
Remaining weighted average expense recognition period (in years)	1 year 9 months 18 days
Shares issued as a result of vested restricted stock units (in shares)	103,124	53,714	39,314
Payments Related to Tax Withholding for Share-based Compensation	$ 3,818	$ 1,367	$ 816
Restricted stock units
Restricted, beginning of period (in shares)	438,070
Granted (in shares)	255,500
Exercised (in shares)	(116,118)
Forfeited (in shares)	(34,046)
Restricted, end of period (in shares)	543,406	438,070
Restricted stock units, additional disclosures
Weighted average grant date fair value, Restricted, beginning of period (in dollars per share)	$ 64.09
Weighted average grant date fair value, Granted (in dollars per share)	88.02
Weighted average grant date fair value, Exercised (in dollars per share)	71.49
Weighted average grant date fair value, Forfeited (in dollars per share)	73.28
Weighted average grant date fair value, Restricted, end of period (in dollars per share)	$ 73.55	$ 64.09
Other information relative to restricted unit activity
Total grant date fair value of restricted units vested and exercised	$ 8,301	$ 5,325	3,301
Total intrinsic value of restricted units vested and exercised	$ 10,623	$ 5,364	$ 3,465
Shares Paid for Tax Withholding for Share Based Compensation	41,786	17,131	11,755
Performance-Based Restricted Share Units
Share-based Compensation Arrangement by Share-based Payment Award
Total unrecognized compensation	$ 2,300
Remaining weighted average expense recognition period (in years)	1 year 9 months 18 days
Shares issued as a result of vested restricted stock units (in shares)	0	0	0
Restricted stock units
Restricted, beginning of period (in shares)	41,310
Granted (in shares)	58,115
Exercised (in shares)	(28,792)
Forfeited (in shares)	(6,173)
Restricted, end of period (in shares)	93,461	41,310
Restricted stock units, additional disclosures
Weighted average grant date fair value, Restricted, beginning of period (in dollars per share)	$ 63.90
Weighted average grant date fair value, Granted (in dollars per share)	85.51
Weighted average grant date fair value, Exercised (in dollars per share)	70.68
Weighted average grant date fair value, Forfeited (in dollars per share)	85.04
Weighted average grant date fair value, Restricted, end of period (in dollars per share)	$ 75.97	$ 63.90
Other information relative to restricted unit activity
Total grant date fair value of restricted units vested and exercised	$ 2,035	$ 0	$ 0
Total intrinsic value of restricted units vested and exercised	$ 2,666	$ 0	$ 0
Shares Paid for Tax Withholding for Share Based Compensation	0	0	0
Share-based Payment Arrangement, Tranche One
Restricted stock units
Granted (in shares)	29,001
Restricted stock units, additional disclosures
Weighted average grant date fair value, Granted (in dollars per share)	$ 63.90