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Revenue - Narrative (Details)
$ in Millions
3 Months Ended 9 Months Ended
Oct. 01, 2023
USD ($)
Oct. 02, 2022
USD ($)
Oct. 01, 2023
USD ($)
segment
Oct. 02, 2022
USD ($)
Jan. 01, 2023
USD ($)
Revenue from Contract with Customer [Line Items]          
Number of operating segments | segment     5    
Deferred Fulfillment Costs          
Revenue from Contract with Customer [Line Items]          
Capitalized contract cost, net $ 3.3   $ 3.3   $ 2.7
Capitalized contract cost, amortization $ 1.7 $ 3.2 $ 5.5 $ 7.0