Leases - Lease Expense (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Oct. 01, 2022	Sep. 30, 2023	Oct. 01, 2022
Leases [Abstract]
Operating leases	$ 11.8	$ 11.1	$ 34.4	$ 31.7
Finance leases
Amortization	0.9	1.3	3.1	4.2
Interest	0.1	0.2	0.4	0.5
Total finance leases	$ 1.0	$ 1.5	$ 3.5	$ 4.7