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Stockholders’ Equity - Stock Option Plans (Details) - $ / shares
12 Months Ended
Dec. 31, 2023
Jan. 01, 2023
Jan. 02, 2022
Shares      
Beginning balance (in shares) 1,726,731 1,793,857 1,819,147
Granted (in shares) 0 135,751 211,973
Exercised (in shares) (372,739) (179,828) (213,384)
Canceled or expired (in shares) (16,020) (23,049) (23,879)
Ending balance (in shares) 1,337,972 1,726,731 1,793,857
Options exercisable at end of period (in shares) 1,190,838 1,395,949 1,328,191
Weighted Average Exercise Price      
Beginning balance (in USD per share) $ 223.43 $ 206.08 $ 170.10
Granted (in USD per share) 0 360.39 440.48
Exercised (in USD per share) 121.73 131.44 118.55
Canceled or expired (in USD per share) 389.85 397.36 328.15
Ending balance (in USD per share) 249.76 223.43 206.08
Options exercisable at end of period (in USD per share) $ 232.10 $ 182.53 $ 148.73