Retirement Benefits - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Jan. 01, 2023	Jan. 02, 2022
Retirement Benefits [Abstract]
Liability for nonqualified plans	$ 233.8	$ 196.6
Earnings (loss) included in SG&A expenses	32.9	(36.3)	$ 27.0
Life insurance cash surrender value	230.3	194.3
Proceeds from company-owned life insurance	0.0	1.5	12.2
Tax-free earnings (loss) included in SG&A expenses	32.2	(36.0)	26.0
Net expense for retirement benefits	10.9	9.4	10.0
Benefit obligation	9.7	10.4
Fair value of plan assets	8.0	7.5
Unfunded liability	(1.7)	(2.9)
Pension expense	$ 0.2	$ 0.4	$ 0.5