Leases - Other Information Related to Operating Leases (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Jan. 01, 2023	Jan. 02, 2022
Leases [Abstract]
Operating cash flows from operating leases	$ 20.6	$ 22.4	$ 26.1
Financing cash flows from operating leases	1.2	1.4	1.5
ROU assets obtained in exchange for new operating lease liabilities	12.6	10.7	14.9
ROU assets obtained in exchange for new financing lease liabilities	$ 0.0	$ 0.0	$ 0.0