Leases - Lease Expense (Details) - USD ($) $ in Millions		3 Months Ended
		Apr. 03, 2021	Mar. 28, 2020
Leases [Abstract]
Operating leases	[1]	$ 9.8	$ 9.6
Finance leases
Amortization		1.5	1.0
Interest		0.2	0.2
Total finance leases		$ 1.7	$ 1.2

[1] (1) Includes short-term leases and variable lease costs, which are immaterial.