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Restructuring Charges (Details) - USD ($)
$ in Millions
3 Months Ended
Apr. 02, 2022
Apr. 03, 2021
Restructuring Reserve [Roll Forward]    
Beginning balance $ 6.9 $ 9.1
Additional charges 3.6 1.8
Payments (2.1) (4.4)
Non-cash adjustments (0.2) (0.3)
Ending balance $ 8.2 $ 6.2