Pension Plans and Postretirement Benefits - Funded Status (Details) - USD ($) $ in Millions	Dec. 31, 2023	Jan. 01, 2023
Amounts recognized in the consolidated balance sheets as a debit (credit):
Prepaid pension assets	$ 203.3	$ 178.4
Accrued pension obligations long-term	(57.8)	(50.2)
Pension Plan | Domestic
Funded Status and Amounts Recognized in Balance Sheets [Abstract]
Funded (unfunded) status	156.3	136.7
Amounts recognized in the consolidated balance sheets as a debit (credit):
Prepaid pension assets	203.3	178.4
Accrued pension obligations short-term	(2.9)	(3.9)
Accrued pension obligations long-term	(44.1)	(37.8)
Net amount recognized	156.3	136.7
Amounts recognized in AOCI:
Net prior service cost (credit)	1.0	(1.2)
Net loss	318.4	330.2
Net amount recognized, before tax effect	319.4	329.0
Pension Plan | Foreign
Funded Status and Amounts Recognized in Balance Sheets [Abstract]
Funded (unfunded) status	(12.9)	(10.2)
Amounts recognized in the consolidated balance sheets as a debit (credit):
Prepaid pension assets	0.0	0.0
Accrued pension obligations short-term	(0.6)	(0.5)
Accrued pension obligations long-term	(12.3)	(9.7)
Net amount recognized	(12.9)	(10.2)
Amounts recognized in AOCI:
Net prior service cost (credit)	0.4	0.5
Net loss	8.2	5.6
Net amount recognized, before tax effect	$ 8.6	$ 6.1