Supplemental Balance Sheet Information - Property, Plant and Equipment (Details) - USD ($) $ in Millions	Dec. 31, 2023	Jan. 01, 2023
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	$ 1,724.1	$ 1,617.6
Accumulated depreciation and amortization	(947.1)	(847.8)
Total property, plant and equipment, net	777.0	769.8
Land
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	107.4	103.6
Buildings
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	450.9	436.4
Equipment and software and other
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	$ 1,165.8	$ 1,077.6