Leases - Lease Cash Flow Classifications (Details) - USD ($) $ in Millions	3 Months Ended
	Apr. 03, 2021	Mar. 28, 2020
Leases [Abstract]
Operating cash flows for operating leases	$ 10.0	$ 8.9
Operating cash flows for finance leases	0.2	0.2
Financing cash flows for finance leases	1.3	0.9
Leased assets obtained in exchange for new finance lease liabilities	4.2	1.5
Leased assets obtained in exchange for new operating lease liabilities	$ 3.9	$ 4.9