Leases - Narrative (Details) $ in Millions	12 Months Ended
	Dec. 31, 2023 USD ($) lease lease_renewal_option	Jan. 01, 2023 USD ($)	Jan. 02, 2022 USD ($)
Leases [Abstract]
Long-term operating lease agreements (more than) | lease	150
Number of operating lease renewal options (or more) | lease_renewal_option	1
Operating lease right-of-use assets	$ 141.7
Operating Lease, Right-of-Use Asset, Statement of Financial Position [Extensible Enumeration]	Other Assets, Noncurrent
Weighted average remaining lease term	6 years 4 months 24 days
Discount rate	4.72%
Rental expense	$ 43.9	$ 45.1	$ 40.9
Variable lease expense	1.6	5.9	$ 5.8
Cash paid	39.5	36.9
Right-of-use assets obtained in exchange for lease obligations	$ 21.7	$ 26.1