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Derivative Instruments - Narrative (Details) € in Millions, $ in Millions	12 Months Ended
	Dec. 31, 2023 USD ($)	Jan. 01, 2023 USD ($)	Dec. 31, 2023 EUR (€)
Derivatives not designated as hedging instruments
Derivative Instruments, Gain (Loss) [Line Items]
Loss on derivative instruments	$ 13.7	$ 32.0
Buy Canadian Dollars and Sell US Dollars \| Derivatives designated as hedging instruments
Derivative Instruments, Gain (Loss) [Line Items]
Derivative notional amount	164.2
Buy Great Britain Pounds and Sell US Dollars \| Derivatives designated as hedging instruments
Derivative Instruments, Gain (Loss) [Line Items]
Derivative notional amount	16.8
Currency swap maturing October 2024
Derivative Instruments, Gain (Loss) [Line Items]
Derivative notional amount	150.0		€ 156.0
Forward Contracts
Derivative Instruments, Gain (Loss) [Line Items]
Expected reclassification of gain (loss) over the next 12 months	3.4
Cross currency swaps and interests rate swap
Derivative Instruments, Gain (Loss) [Line Items]
Expected reclassification of gain (loss) over the next 12 months	$ 5.0