Revenue Recognition - Additional Information (Details) - USD ($) $ in Millions	3 Months Ended	9 Months Ended
Oct. 02, 2021	Sep. 26, 2020	Oct. 02, 2021	Sep. 26, 2020
Disaggregation of Revenue [Line Items]
Net sales	$ 1,042.7	$ 1,003.0	$ 3,033.8	$ 3,035.0
Contract manufacturing
Disaggregation of Revenue [Line Items]
Net sales	$ 80.8	$ 76.3	$ 213.7	$ 190.0

Amount, excluding tax collected from customer, of revenue from satisfaction of performance obligation by transferring promised good or service to customer. Tax collected from customer is tax assessed by governmental authority that is both imposed on and concurrent with specific revenue-producing transaction, including, but not limited to, sales, use, value added and excise.

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+ Details