Pension Plans and Postretirement Benefits - Changes in Plan Assets (Details) - Pension Plan - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Jan. 01, 2023
Domestic
Defined Benefit Plan, Change in Fair Value of Plan Assets [Roll Forward]
Fair value of net plan assets - beginning of year	$ 719.7	$ 864.3
Actual return on plan assets	78.0	(79.2)
Employer contribution - other benefit plan	2.5	2.2
Foreign currency changes	0.0	0.0
Benefits paid	(59.8)	(67.6)
Other	0.0	0.0
Fair value of net plan assets - end of year	740.4	719.7
Foreign
Defined Benefit Plan, Change in Fair Value of Plan Assets [Roll Forward]
Fair value of net plan assets - beginning of year	35.0	52.9
Actual return on plan assets	2.3	(12.6)
Employer contribution - other benefit plan	1.5	1.5
Foreign currency changes	2.0	(4.6)
Benefits paid	(2.2)	(1.7)
Other	0.0	(0.5)
Fair value of net plan assets - end of year	$ 38.6	$ 35.0