Pension Plans and Postretirement Benefits - Benefit Obligation and Net Benefit Cost (Details) - Pension Plan	12 Months Ended
	Dec. 31, 2023	Jan. 01, 2023	Jan. 02, 2022
Domestic
Defined Benefit Plan Disclosure [Line Items]
Increase in future compensation levels	2.75%	2.75%	2.75%
Expected long-term rate of return	6.86%
Salary growth rate	2.75%	2.75%	2.75%
Domestic | Minimum
Defined Benefit Plan Disclosure [Line Items]
Discount rates	5.71%	2.91%	2.55%
Expected long-term rate of return	6.58%	6.58%	6.71%
Discount rate	5.40%	5.71%	2.91%
Domestic | Maximum
Defined Benefit Plan Disclosure [Line Items]
Discount rates	5.72%	3.08%	2.78%
Expected long-term rate of return	7.80%	7.80%	7.80%
Discount rate	5.45%	5.72%	3.08%
Foreign
Defined Benefit Plan Disclosure [Line Items]
Expected long-term rate of return	5.02%
Foreign | Minimum
Defined Benefit Plan Disclosure [Line Items]
Discount rates	2.20%	0.20%	0.10%
Increase in future compensation levels	1.50%	1.00%	1.00%
Expected long-term rate of return	1.25%	1.00%	0.80%
Discount rate	1.30%	2.20%	0.20%
Salary growth rate	1.50%	1.50%	1.00%
Foreign | Maximum
Defined Benefit Plan Disclosure [Line Items]
Discount rates	4.80%	1.80%	1.20%
Increase in future compensation levels	3.00%	2.50%	2.50%
Expected long-term rate of return	5.10%	2.70%	2.50%
Discount rate	4.50%	4.80%	1.80%
Salary growth rate	3.00%	3.00%	2.50%