Pension Plans and Postretirement Benefits - Narrative (Details) $ in Millions	12 Months Ended
	Dec. 31, 2023 USD ($) plan	Jan. 01, 2023 USD ($)	Jan. 02, 2022 USD ($)
Defined Benefit Plan Disclosure [Line Items]
Domestic qualified defined benefit pension plans | plan	2
Non-cash reduction to stockholders' equity	$ (249.6)	$ (255.5)
Deferred tax on non-cash reductions to stockholders' equity	77.0	77.6
Total cost of plan		1.0	$ 1.0
Employer contributions to 401(k) plans	$ 31.4	29.7	15.2
Deferred compensation employee contribution vesting percentage	1
Deferred compensation liabilities	$ 102.2	92.2
Cash surrender value of life insurance	101.3	94.7
Pension Plan
Defined Benefit Plan Disclosure [Line Items]
Settlements	$ 17.3	24.8	24.5
Pension Plan | Domestic
Defined Benefit Plan Disclosure [Line Items]
Expected long-term rate of return	6.86%
Total cost of plan	$ (12.8)	(11.2)	(11.5)
Pension Plan | Domestic | Equity securities
Defined Benefit Plan Disclosure [Line Items]
Target allocation of plan assets	35.00%
Pension Plan | Domestic | Fixed income instruments
Defined Benefit Plan Disclosure [Line Items]
Target allocation of plan assets	54.00%
Pension Plan | Domestic | Alternatives
Defined Benefit Plan Disclosure [Line Items]
Target allocation of plan assets	11.00%
Pension Plan | Foreign
Defined Benefit Plan Disclosure [Line Items]
Expected long-term rate of return	5.02%
Total cost of plan	$ 0.6	$ (0.4)	$ 0.2
Postretirement Plans
Defined Benefit Plan Disclosure [Line Items]
Total cost of plan	$ 1.0