Restructuring - Restructuring Reserve (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Jan. 01, 2023
Restructuring Reserve [Roll Forward]
Balance at beginning of year	$ 0.3	$ 2.9
Accruals	40.6	1.7
Reductions for cash payments	(23.8)	(4.0)
Accrual adjustments	(2.0)	(0.3)
Balance at end of year	$ 15.1	$ 0.3