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Shareholders' Equity (Tables)
12 Months Ended
Dec. 28, 2019
Stockholders' Equity Note [Abstract]  
Schedule of share-based compensation activity
The table below presents SARs share-based compensation activity for the fiscal years ended 2019, 2018 and 2017 (in millions):
 
 
2019
 
2018
 
2017
Total Intrinsic Value of Share-Based Incentive Awards Exercised
 
$11.7
 
$5.2
 
$4.3
Cash Received from Stock Option Exercises
 
0.1
 
 
0.4
Total Fair Value of Share-Based Incentive Awards Vested
 
5.4
 
3.9
 
4.3

Assumptions used in Valuation for Options, SAR's, and Performance Share Units
The weighted average assumptions used in the Company's Black-Scholes valuation related to grants for SARs were as follows:
 
2019
 
2018
 
2017
Per Share Weighted Average Fair Value of Grants
$20.84
 
$22.73
 
$23.31
Risk-Free Interest Rate
2.4%
 
2.9%
 
2.1%
Expected Life (Years)
7.0
 
7.0
 
7.0
Expected Volatility
25.0%
 
27.8%
 
28.6%
Expected Dividend Yield
1.5%
 
1.4%
 
1.3%

The assumptions used in the Company's Monte Carlo simulation related to grants for performance share units were as follows:
 
December 28, 2019
 
December 29, 2018
 
December 30, 2017
Risk-free interest rate
2.3%
 
2.7%
 
1.6%
Expected life (years)
3.0
 
3.0
 
3.0
Expected volatility
25.0%
 
25.0%
 
24.0%
Expected dividend yield
1.5%
 
1.4%
 
1.3%

Share-based Incentive Plan Grant Activity (Options and SAR's)
Following is a summary of share-based incentive plan activity (options and SARs) for fiscal 2019:
Number of Shares Under Options and SARs
Shares
 
Weighted Average Exercise Price
 
Weighted Average Remaining Contractual Term (years)
 
Aggregate Intrinsic Value (in millions)
Outstanding as of December 29, 2018
1,539,368
 
$
69.31

 
 
 
 
Granted
188,809
 
81.81

 
 
 
 
Exercised
(869,183)
 
67.88

 
 
 
 
Forfeited
(37,136)
 
76.94

 
 
 
 
Expired
(4,068)
 
74.37

 
 
 
 
Outstanding as of December 28, 2019
817,790
 
$
73.34

 
6.0
 
$
9.9

Exercisable as of December 28, 2019
415,570
 
$
69.57

 
3.8
 
$
6.6


RSA Award Activity
Following is the summary of RSAs activity for fiscal 2019:
 
 
Shares
 
Weighted Average Fair Value at Grant Date
 
Weighted Average Remaining Contractual Term (years)
Unvested RSAs as of December 29, 2018
 
15,660
 
$
74.38

 
0.4
Granted
 
15,571
 
80.41

 
 
Vested
 
(15,660)
 
74.38

 
 
Unvested RSAs as of December 28, 2019
 
15,571
 
$
80.41

 
0.4

RSU Award Activity
Following is the summary of RSUs activity for fiscal 2019:
 
 
 
Shares
 
Weighted Average Fair Value at Grant Date
 
Weighted Average Remaining Contractual Term (years)
Unvested RSUs as of December 29, 2018
 
234,824
 
$
69.78

 
1.6
Granted
 
93,428
 
78.98

 
 
Vested
 
(136,372)
 
64.47

 
 
Forfeited
 
(16,855)
 
76.34

 
 
Unvested RSUs as of December 28, 2019
 
175,025
 
$
78.19

 
1.9

PSU Award Activity
Following is the summary of PSUs activity for fiscal 2019:
 
 
 
Shares
 
Weighted Average Fair Value at Grant Date
 
Weighted Average Remaining Contractual Term (years)
Unvested PSUs as of December 29, 2018
 
167,840
 
$
71.71

 
1.8
Granted
 
48,091
 
85.54

 
 
Vested
 
(64,961)
 
65.85

 
 
Forfeited
 
(60,405)
 
67.90

 
 
Unvested PSUs as of December 28, 2019
 
90,565
 
$
86.35

 
1.9