Leases - Lease Cost (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jul. 02, 2023	Jun. 26, 2022	Jul. 02, 2023	Jun. 26, 2022
Leases [Abstract]
Operating cash flows from operating leases	$ 13.1	$ 13.3	$ 25.8	$ 26.7
Right-of-use assets obtained in exchange for lease obligations, operating leases net of lease modifications	$ 2.1	$ (9.5)	$ 67.7	$ (0.5)
Weighted average remaining lease term, operating leases	7 years 3 months 18 days	4 years 7 months 6 days	7 years 3 months 18 days	4 years 7 months 6 days
Weighted average discount rate, operating leases	3.70%	3.30%	3.70%	3.30%