Leases - Lease Cash Flow Classifications (Details) - USD ($) $ in Millions	6 Months Ended
	Jul. 01, 2023	Jul. 02, 2022
Leases [Abstract]
Operating cash flows for operating leases	$ 18.2	$ 16.6
Operating cash flows for finance leases	0.3	0.3
Financing cash flows for finance leases	2.0	2.6
Leased assets obtained in exchange for new finance lease liabilities	0.4	0.0
Leased assets obtained in exchange for new operating lease liabilities	$ 3.2	$ 42.8