Pension Plans and Postretirement Benefits - Schedule of Fair Value of Assets Category (Details) - Recurring - Pension Plan - USD ($) $ in Millions	Dec. 31, 2023	Jan. 01, 2023
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	$ 511.0	$ 507.0
Level 1
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	234.9	228.7
Level 2
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	276.1	278.3
Level 3
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Investments measured at net asset value:
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	268.0	247.7
Cash and Cash Equivalents
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	20.1	48.3
Cash and Cash Equivalents | Level 1
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Cash and Cash Equivalents | Level 2
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	20.1	48.3
Cash and Cash Equivalents | Level 3
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Equity securities
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	212.5	188.5
Equity securities | Level 1
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	3.5	2.8
Equity securities | Level 2
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	209.0	185.7
Equity securities | Level 3
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
U.S. Government securities and futures
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	242.8	237.1
U.S. Government securities and futures | Level 1
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	231.4	225.9
U.S. Government securities and futures | Level 2
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	11.4	11.2
U.S. Government securities and futures | Level 3
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Corporate bonds
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	22.5	22.4
Corporate bonds | Level 1
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Corporate bonds | Level 2
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	22.5	22.4
Corporate bonds | Level 3
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Insurance contracts related to foreign plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	13.1	10.7
Insurance contracts related to foreign plans | Level 1
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Insurance contracts related to foreign plans | Level 2
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	13.1	10.7
Insurance contracts related to foreign plans | Level 3
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Alternatives | Investments measured at net asset value:
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	189.3	177.5
Mutual funds | Investments measured at net asset value:
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	4.8	4.3
Mortgage-backed securities | Investments measured at net asset value:
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	60.3	53.6
High-yield bonds | Investments measured at net asset value:
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	$ 13.6	$ 12.3