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Restructuring - Narrative (Details) - USD ($) $ in Millions	3 Months Ended				9 Months Ended
Restructuring - Narrative (Details) - USD ($) $ in Millions	Oct. 01, 2023	Jul. 02, 2023	Apr. 02, 2023	Oct. 02, 2022	Oct. 01, 2023	Oct. 02, 2022	Jan. 01, 2023
Restructuring Cost and Reserve [Line Items]
Accruals	$ 15.4	$ 5.9	$ 6.6
Restructuring accrual	10.6	8.5	5.9		$ 10.6		$ 0.3
Asset impairment charge	0.0			$ 0.0	2.4	$ 0.0
2023 Actions
Restructuring Cost and Reserve [Line Items]
Accruals	15.4	5.6	$ 6.6		27.6
Restructuring and related cost, incurred cost		8.0
Transformation costs	4.5	4.5
Severance Costs	10.4	1.1			$ 16.1
Asset impairment charge		$ 2.4
Business exit costs	$ 0.5