Pension Plans and Postretirement Benefits -Schedule of Changes in Benefit Obligation (Details) - Pension Plan - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Jan. 01, 2023	Jan. 02, 2022
United States
Defined Benefit Plan, Change in Benefit Obligation [Roll Forward]
Benefit obligation - beginning of year	$ 583.0	$ 799.3
Service cost - benefits earned during the year	5.2	7.6	$ 9.3
Interest cost on projected benefit obligation	31.7	22.8	21.6
Actuarial (gain) loss	23.6	(179.1)
Benefits paid	(59.8)	(67.6)
Other - including foreign currency, settlements/curtailments	0.4	0.0
Benefit obligation - end of year	584.1	583.0	799.3
Accumulated benefit obligation - end of year	581.7	580.5
Foreign
Defined Benefit Plan, Change in Benefit Obligation [Roll Forward]
Benefit obligation - beginning of year	45.2	60.2
Service cost - benefits earned during the year	0.9	1.0	1.3
Interest cost on projected benefit obligation	1.9	0.8	0.7
Actuarial (gain) loss	3.1	(12.0)
Benefits paid	(2.1)	(1.6)
Other - including foreign currency, settlements/curtailments	2.5	(3.2)
Benefit obligation - end of year	51.5	45.2	$ 60.2
Accumulated benefit obligation - end of year	$ 47.9	$ 42.2