Income Taxes - Deferred Income Tax (Details) - USD ($) $ in Millions	Dec. 31, 2023	Jan. 01, 2023
Long-term:
Accrued liabilities	$ 29.5	$ 32.0
Inventory valuation	29.1	30.3
Accrued vacation	8.1	8.3
Deferred compensation and other benefit plans	13.8	12.7
Postretirement benefits other than pensions	0.7	1.0
Operating lease liabilities	27.9	29.9
Capitalization of research and development	141.1	70.8
Tax credit and net operating loss carryforward	39.3	44.6
Other	34.8	32.6
Valuation allowance	(18.2)	(16.1)
Total deferred income tax assets	306.1	246.1
Long-term:
Intangible amortization	638.7	646.9
Property, plant and equipment differences	29.0	31.9
Operating lease right-of-use assets	25.3	26.7
Unremitted earnings of foreign subsidiaries	3.6	3.1
Other	12.4	12.9
Total deferred income tax liabilities	709.0	721.5
Net deferred income tax liabilities	$ 402.9	$ 475.4