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Restructuring Charges (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jul. 02, 2022
Jul. 03, 2021
Jul. 02, 2022
Jul. 03, 2021
Restructuring Reserve [Roll Forward]        
Beginning balance $ 8.2 $ 6.2 $ 6.9 $ 9.1
Additional charges 9.5 9.0 13.0 10.7
Payments (3.9) (5.1) (6.0) (9.5)
Non-cash adjustments (0.3) 0.1 (0.4) (0.1)
Ending balance $ 13.5 $ 10.2 $ 13.5 $ 10.2