Supplemental Balance Sheet Information - Other Long-term Liabilities (Details) - USD ($) $ in Millions	Dec. 31, 2023	Jan. 01, 2023
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Operating lease liabilities	$ 123.4	$ 125.9
Unrecognized tax benefits, including accrued interest and penalties	104.5	176.3
Deferred compensation liabilities	102.2	92.2
Pension and postretirement related liabilities	57.8	50.2
Contract liabilities	25.5	20.2
Derivative liabilities	0.0	19.4
Warranty reserve	8.6	7.0
Other	53.8	56.0
Total other long-term liabilities	$ 475.8	$ 547.2
Operating Lease, Liability, Noncurrent, Statement of Financial Position [Extensible List]	Total other long-term liabilities	Total other long-term liabilities