Earnings Per Share and Equity - Schedule of Share Repurchase Program (Details) - USD ($)	3 Months Ended		9 Months Ended
	Oct. 02, 2020	Sep. 27, 2019	Oct. 02, 2020	Sep. 27, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Aggregate purchase price			$ 65,400,000	$ 139,000,000.0
Fees, commissions and other expenses	$ 0	$ 100,000	100,000	100,000
Total cash used for share repurchases	$ 0	$ 13,200,000	$ 65,400,000	$ 139,000,000.0
Treasury shares reissued or retired during period			0
Share Repurchase Program
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of repurchased shares	0	800,000	3,600,000	7,800,000
Aggregate purchase price	$ 0	$ 13,100,000	$ 65,300,000	$ 138,900,000
Weighted-average purchase price per share (in dollars per share )	$ 0	$ 17.18	$ 18.08	$ 17.89