Stockholders' Equity and Convertible Preferred Stock (Details)		3 Months Ended						9 Months Ended
	Apr. 20, 2020 USD ($) $ / shares shares	Sep. 29, 2020 USD ($) $ / shares shares	Jun. 30, 2020 USD ($) shares	Mar. 31, 2020 USD ($) $ / shares	Oct. 01, 2019 USD ($) $ / shares	Jul. 02, 2019 USD ($) $ / shares	Apr. 02, 2019 USD ($) $ / shares	Sep. 29, 2020 USD ($) item $ / shares shares	Dec. 31, 2019 USD ($) shares
Stockholders Equity
Cash dividends declared per common share (in dollars per share) | $ / shares				$ 0.36	$ 0.33	$ 0.33	$ 0.33
Repurchased shares since program inception | shares		53,015,995						53,015,995	52,916,434
Value of shares repurchased since program inception		$ 1,696,364,000						$ 1,696,364,000	$ 1,693,122,000
Treasury stock repurchased during period		390,000	$ 266,000	$ 2,586,000	$ 11,397,000	$ 28,093,000	$ 11,071,000
Purchase Price								200,000,000
Number of shares issued (in shares) | shares			200,000
Value of shares issued			$ 189,743,000
Preferred stock direct costs			(10,257,000)					$ 10,257,000
Dividends paid in-kind		$ 5,847,000	4,079,000
Treasury Stock
Stockholders Equity
Number of shares authorized to be repurchased | shares		56,000,000.0						56,000,000.0
Repurchased shares since program inception | shares		53,000,000.0						53,000,000.0
Value of shares repurchased since program inception		$ 1,696,400,000						$ 1,696,400,000
Shares repurchased during period | shares		12,567,000
Treasury stock repurchased during period		$ 400,000
Series A Convertible Preferred Stock
Stockholders Equity
Number of shares issued (in shares) | shares	200,000,000
Value of shares issued	$ 200
Price per share (in dollars per share) | $ / shares	$ 1,000
Preferred stock direct costs	$ 10,300,000
Liquidation Preference (in dollars per share) | $ / shares		$ 1,042.22						$ 1,042.22
Dividend rate (as a percent)								9.50%
Dividends paid in-kind		$ 4,800,000						$ 8,500,000
Conversion price (in dollars per share) | $ / shares								$ 22.23
Number of common shares that would be required to be issued upon conversion | shares								9.4
Beneficial ownership (as a percent)								19.90%
Threshold trading days for conversion of preferred stock | item								20
Preferred Stock, Convertible, Threshold Consecutive Trading Days | item								30
Preferred Stock, Convertible, Closing Price Of Common Stock, Percent								200.00%
Beneficial conversion feature		$ 1,300,000	$ 100,000
Series A Convertible Preferred Stock | April 21, 2025 and April 19, 2026
Stockholders Equity
Redemption rate (as a percent)								1.20%
Series A Convertible Preferred Stock | At any time beginning on April 20, 2026
Stockholders Equity
Redemption rate (as a percent)								100.00%