Financing Receivables - Schedule of Financing Receivables (Details) - USD ($) $ in Millions	Jul. 02, 2021	Dec. 31, 2020
Financing Receivable, after Allowance for Credit Loss, Current [Abstract]
Current financing receivables, gross	$ 113.1	$ 114.4
Total allowance for credit losses	23.5	22.4
Total current financing receivables, net	89.6	92.0
Financing Receivable, after Allowance for Credit Loss, Noncurrent [Abstract]
Long-term financing receivables, gross	282.1	277.9
Total allowance for credit losses	43.2	44.4
Total long-term financing receivables, net	238.9	233.5
PSAs
Financing Receivable, after Allowance for Credit Loss, Current [Abstract]
Current financing receivables, gross	97.1	98.9
Total allowance for credit losses	17.6	15.8
Total current financing receivables, net	79.5	83.1
Financing Receivable, after Allowance for Credit Loss, Noncurrent [Abstract]
Long-term financing receivables, gross	220.2	219.3
Total allowance for credit losses	37.7	38.5
Total long-term financing receivables, net	182.5	180.8
Franchisee Notes
Financing Receivable, after Allowance for Credit Loss, Current [Abstract]
Current financing receivables, gross	16.0	15.5
Total allowance for credit losses	5.9	6.6
Total current financing receivables, net	10.1	8.9
Financing Receivable, after Allowance for Credit Loss, Noncurrent [Abstract]
Long-term financing receivables, gross	61.9	58.6
Total allowance for credit losses	5.5	5.9
Total long-term financing receivables, net	$ 56.4	$ 52.7