Customer Contracts - Narrative (Details) - USD ($) $ in Millions	6 Months Ended
	Jun. 28, 2020	Jun. 30, 2019	Dec. 29, 2019
Segment Reporting Information [Line Items]
Contract with customer, current liability	$ 123.2		$ 126.8
Contract with customer, long-term liability	15.2		17.9
Revenue recognized from contract liabilities	51.9
Remaining performance obligation	1,806.2
Allowance for doubtful accounts	12.0		$ 10.2
Digital Imaging
Segment Reporting Information [Line Items]
Change in estimate	$ 10.2	$ 12.6