Leases - Lease Cash Flow Classifications (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 28, 2020	Mar. 30, 2019
Leases [Abstract]
Operating cash flows for operating leases	$ 10.7	$ 11.7
Operating cash flows for finance leases	0.2	0.1
Financing cash flows for finance leases	1.0	0.7
Leased assets obtained in exchange for new finance lease liabilities	1.5	0.0
Leased assets obtained in exchange for new operating lease liabilities	$ 5.5	$ 4.7