Leases - Lease Cost (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 28, 2021	Mar. 29, 2020
Leases [Abstract]
Operating cash flows from operating leases	$ 13.2	$ 11.6
Right-of-use assets obtained in exchange for lease obligations, operating leases	$ 7.3	$ 64.2
Weighted average remaining lease term, operating leases	5 years 10 months 24 days	6 years
Weighted average discount rate, operating lease	3.10%	4.20%