Financing and Trade Receivables - Schedule of Accounts, Notes, Loans and Financing Receivable (Details) - USD ($) $ in Millions	Sep. 29, 2023	Dec. 31, 2022
Gross current financing receivables:
Current financing receivables, gross	$ 120.0	$ 115.0
Allowance for credit losses:
Total allowance for credit losses	20.8	19.6
Net current financing receivables:
Total current financing receivables, net	99.2	95.4
Gross long-term financing receivables:
Long-term financing receivables, gross	304.5	287.5
Allowance for credit losses:
Total allowance for credit losses	32.5	37.7
Net long-term financing receivables:
Total long-term financing receivables, net	272.0	249.8
PSAs
Gross current financing receivables:
Current financing receivables, gross	98.3	96.6
Allowance for credit losses:
Total allowance for credit losses	13.8	13.1
Net current financing receivables:
Total current financing receivables, net	84.5	83.5
Gross long-term financing receivables:
Long-term financing receivables, gross	240.2	224.0
Allowance for credit losses:
Total allowance for credit losses	27.5	32.4
Net long-term financing receivables:
Total long-term financing receivables, net	212.7	191.6
Franchisee Notes
Gross current financing receivables:
Current financing receivables, gross	21.7	18.4
Allowance for credit losses:
Total allowance for credit losses	7.0	6.5
Net current financing receivables:
Total current financing receivables, net	14.7	11.9
Gross long-term financing receivables:
Long-term financing receivables, gross	64.3	63.5
Allowance for credit losses:
Total allowance for credit losses	5.0	5.3
Net long-term financing receivables:
Total long-term financing receivables, net	$ 59.3	$ 58.2