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CONSOLIDATED STATEMENTS OF SHAREHOLDERS' EQUITY (Parenthetical) - $ / shares
9 Months Ended
Sep. 29, 2018
Sep. 30, 2017
Increase (Decrease) in Stockholders' Equity    
Cash dividends per share (USD per share) $ 0.180 $ 0.150
Issuance of shares under employee stock plans (in shares) 25,449 17,925
Issuance of shares under stock grant programs (in shares) 348,140 428,325
Issuance of shares under deferred compensation plans (in shares) 147,188 147,480
Repurchase of shares (in shares) 56,484 445,740