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Derivative Instruments and Hedging Activities - Narrative (Details)
€ in Millions, $ in Millions
3 Months Ended
Apr. 02, 2023
USD ($)
Apr. 03, 2022
USD ($)
Apr. 02, 2023
EUR (€)
Not designated as hedging instrument      
Derivative Instruments, Gain (Loss) [Line Items]      
Income (expense) from derivative instruments $ 7.8 $ (4.8)  
Forward contracts | Designated as hedging instrument      
Derivative Instruments, Gain (Loss) [Line Items]      
Expected reclassification of gain (loss) over the next 12 months 3.1    
Forward contracts | Designated as hedging instrument | Cash flow hedges | Sell US Dollars and buy Canadian Dollars      
Derivative Instruments, Gain (Loss) [Line Items]      
Derivative notional amount 134.9    
Forward contracts | Designated as hedging instrument | Cash flow hedges | Sell US Dollars and buy Great Britain Pounds      
Derivative Instruments, Gain (Loss) [Line Items]      
Derivative notional amount 12.3    
Currency swap maturing October 2024 | Designated as hedging instrument | Cash flow hedges      
Derivative Instruments, Gain (Loss) [Line Items]      
Derivative notional amount 150.0   € 156.0
Currency swap and interest rate swap | Designated as hedging instrument      
Derivative Instruments, Gain (Loss) [Line Items]      
Expected reclassification of gain (loss) over the next 12 months $ 7.0