Leases - Lease Expense (Details) - USD ($) $ in Millions	3 Months Ended
	Apr. 03, 2021	Apr. 04, 2020
Leases [Abstract]
Operating lease expense	$ 39.0	$ 36.3
Short-term lease expense	4.2	4.1
Variable lease expense	2.2	1.9
Total lease expense	$ 45.4	$ 42.3