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Restructuring Charges (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jul. 03, 2021
Jun. 27, 2020
Jul. 03, 2021
Jun. 27, 2020
Restructuring Reserve [Roll Forward]        
Beginning balance $ 6.2 $ 16.0 $ 9.1 $ 19.5
Additional charges 9.0 0.7 10.7 0.7
Payments (5.1) (7.3) (9.5) (10.8)
Non-cash adjustments 0.1 0.0 (0.1) 0.0
Ending balance $ 10.2 $ 9.4 $ 10.2 $ 9.4