Restructuring and other strategic initiatives - Narratives (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Oct. 01, 2022	Sep. 30, 2023	Oct. 01, 2022
Restructuring Cost and Reserve
Restructuring expenses	$ 2.8	$ 5.2	$ 10.5	$ 9.8
—Impairment of fixed and other assets	0.1	0.5	$ 0.1	1.1
Employee Relocation
Restructuring Cost and Reserve
Restructuring expenses	$ 0.3
Employee Relocation | European Office and Distribution Center
Restructuring Cost and Reserve
Restructuring expenses				2.3
Severance Costs | European Office and Distribution Center
Restructuring Cost and Reserve
Restructuring expenses		2.2
Other Net Restructuring Expenses | Russian Operations
Restructuring Cost and Reserve
Restructuring expenses		1.4		2.7
Severance expenses included in SG&A		0.7		0.7
Impairment of inventory		0.3		0.3
—Impairment of fixed and other assets		$ 1.1		$ 1.1