Customer Contracts - Narrative (Details) - USD ($) $ in Millions	3 Months Ended
Apr. 04, 2021	Mar. 29, 2020	Jan. 03, 2021
Segment Reporting Information [Line Items]
Contract with customer, current liability	$ 144.6		$ 160.1
Contract with customer, long-term liability	14.0		14.0
Revenue recognized from contract liabilities	52.6
Remaining performance obligation	1,987.4
Allowance for doubtful accounts	11.6		$ 12.3
Digital Imaging
Segment Reporting Information [Line Items]
Change in estimate	$ 7.7	$ 4.4

Amount of allowance for credit loss on accounts receivable.

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