Customer Contracts - Narrative (Details) - USD ($) $ in Millions	3 Months Ended
	Apr. 03, 2022	Apr. 04, 2021	Jan. 02, 2022
Segment Reporting Information [Line Items]
Contract with customer, current liability	$ 178.4		$ 186.0
Contract with customer, long-term liability	24.5		25.3
Revenue recognized from contract liabilities	63.7
Remaining performance obligation	2,989.7
Allowance for doubtful accounts	11.7		$ 13.8
Digital Imaging
Segment Reporting Information [Line Items]
Change in estimate	$ 7.6	$ 7.7