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Leases - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 26, 2021
Sep. 27, 2020
Sep. 26, 2021
Sep. 27, 2020
Lessee, Lease, Description [Line Items]        
Operating lease expense $ 21.8 $ 22.3 $ 66.0 $ 67.6
Minimum        
Lessee, Lease, Description [Line Items]        
Remaining lease terms 1 year   1 year  
Maximum        
Lessee, Lease, Description [Line Items]        
Remaining lease terms 18 years   18 years