Pension Plans and Postretirement Benefits - Net Periodic Benefit Expense (Income) Allocation (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Jan. 01, 2023	Jan. 02, 2022
Pension non-service (income) expense (in millions):
Pension non-service (income) expense		$ 1.0	$ 1.0
Pension Plan | Domestic
Components of net period pension benefit expense
Service cost - benefits earned during the period (in millions)	$ 5.2	7.6	9.3
Pension non-service (income) expense (in millions):
Interest cost on benefit obligation	31.7	22.8	21.6
Expected return on plan assets	(52.6)	(54.9)	(55.8)
Amortization of prior service cost	(1.8)	(1.8)	(3.6)
Amortization of actuarial loss	9.9	22.7	26.3
Settlements/Curtailment	0.0	0.0	0.0
Pension non-service (income) expense	(12.8)	(11.2)	(11.5)
Pension Plan | Foreign
Components of net period pension benefit expense
Service cost - benefits earned during the period (in millions)	0.9	1.0	1.3
Pension non-service (income) expense (in millions):
Interest cost on benefit obligation	1.9	0.8	0.7
Expected return on plan assets	(1.6)	(1.1)	(1.0)
Amortization of prior service cost	0.1	0.0	0.1
Amortization of actuarial loss	0.2	0.0	0.4
Settlements/Curtailment	0.0	(0.1)	0.0
Pension non-service (income) expense	$ 0.6	$ (0.4)	$ 0.2