Revenue Recognition - Additional Information (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Oct. 01, 2022	Sep. 30, 2023	Oct. 01, 2022
Disaggregation of Revenue [Line Items]
Net sales	$ 1,123.8	$ 1,100.2	$ 3,498.7	$ 3,296.3
Contract manufacturing
Disaggregation of Revenue [Line Items]
Net sales	$ 77.0	$ 102.2	$ 267.3	$ 270.6