Derivative Instruments and Hedging Activities - Classification of Gain (Loss) of Cash Flow And Fair Value Hedging Relationships (Details) - USD ($) $ in Millions	3 Months Ended
	Apr. 01, 2023	Apr. 02, 2022
Derivative Instruments, Gain (Loss) [Line Items]
Net sales	$ 1,181.7	$ 1,074.5
Cost of sales	767.9	736.7
Interest expense, net	43.7	35.8
Other expense (income), net	0.5	(1.1)
Net Sales
Foreign currency forward contracts
Amount of gain or (loss) reclassified from AOCI into earnings	0.4	0.3
Amount excluded from effectiveness testing recognized using a systematic and rational amortization approach	0.0	0.0
Cost of Sales
Foreign currency forward contracts
Amount of gain or (loss) reclassified from AOCI into earnings	(0.2)	(0.4)
Amount excluded from effectiveness testing recognized using a systematic and rational amortization approach	0.0	0.1
Interest Expense, net
Foreign currency forward contracts
Amount of gain or (loss) reclassified from AOCI into earnings	0.0	0.0
Amount excluded from effectiveness testing recognized using a systematic and rational amortization approach	0.0	0.0
Other expense (income), net
Foreign currency forward contracts
Amount of gain or (loss) reclassified from AOCI into earnings	0.0	0.0
Amount excluded from effectiveness testing recognized using a systematic and rational amortization approach	0.1	0.1
Interest rate swap agreements | Net Sales
Interest rate swap agreements
Amount of gain or (loss) reclassified from AOCI into earnings	0.0	0.0
Interest rate swap agreements | Cost of Sales
Interest rate swap agreements
Amount of gain or (loss) reclassified from AOCI into earnings	0.0	0.0
Interest rate swap agreements | Interest Expense, net
Interest rate swap agreements
Amount of gain or (loss) reclassified from AOCI into earnings	2.9	(0.5)
Interest rate swap agreements | Other expense (income), net
Interest rate swap agreements
Amount of gain or (loss) reclassified from AOCI into earnings	$ 0.0	$ 0.0