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Restructuring Charges (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Oct. 02, 2021
Sep. 26, 2020
Oct. 02, 2021
Sep. 26, 2020
Restructuring Reserve [Roll Forward]        
Beginning balance $ 10.2 $ 9.4 $ 9.1 $ 19.5
Additional charges 1.0 0.8 11.8 1.5
Payments (3.7) (2.9) (13.3) (13.7)
Non-cash adjustments (0.1) 0.2 (0.2) 0.2
Ending balance $ 7.4 $ 7.5 $ 7.4 $ 7.5