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Share-based Arrangements Performance Shares (Details) - $ / shares
3 Months Ended 9 Months Ended
Oct. 01, 2021
Oct. 01, 2021
Oct. 02, 2020
Jul. 02, 2021
Dec. 31, 2020
Share-based Payment Arrangement [Abstract]          
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage   100.00%      
Share-based Compensation Arrangement by Share-based Payment Award          
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage   100.00%      
Minimum          
Share-based Payment Arrangement [Abstract]          
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage   0.00%      
Share-based Compensation Arrangement by Share-based Payment Award          
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage   0.00%      
Maximum          
Share-based Payment Arrangement [Abstract]          
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage   200.00%      
Share-based Compensation Arrangement by Share-based Payment Award          
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage   200.00%      
Stock Options          
Share-based Compensation Arrangement by Share-based Payment Award          
Expected option term   4 years 10 months 24 days 4 years 10 months 24 days    
Expected volatility   35.70% 20.20%    
Risk-free interest rate   0.50% 1.40%    
Expected dividend yield   1.60% 1.30%    
Per share fair value of options granted (in usd per share)   $ 14.89 $ 10.74    
Restricted Stock Awards          
Share-based Compensation Arrangement by Share-based Payment Award          
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number 140,121 140,121   143,704 109,514
Granted (in shares) 0 83,656      
Vested (in shares) (3,373) (50,612)      
Forfeited or expired (in shares) (210) (2,437)      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value $ 53.72 $ 53.72   $ 53.77 $ 53.66
Granted, Weighted Average Grant Date Fair Value (usd per share) 0 55.20      
Vested, Weighted Average Grant Date Fair Value (usd per share) 55.85 55.81      
Forfeited or expired, Weighted Average Grant Date Fair Value (usd per share) $ 57.33 $ 58.21      
Performance Shares          
Share-based Compensation Arrangement by Share-based Payment Award          
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number 80,500 80,500   80,500 0
Granted (in shares) 0 82,460      
Vested (in shares) 0 0      
Forfeited or expired (in shares) 0 (1,960)      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value $ 70.17 $ 70.17   $ 70.17 $ 0
Granted, Weighted Average Grant Date Fair Value (usd per share) 0 70.17      
Vested, Weighted Average Grant Date Fair Value (usd per share) 0 0      
Forfeited or expired, Weighted Average Grant Date Fair Value (usd per share) $ 0 $ 70.16      
Expected option term   2 years 10 months 24 days      
Expected volatility   41.30%      
Risk-free interest rate   0.20%      
Expected dividend yield   1.40%      
Per share fair value of options granted (in usd per share)   $ 84.49