Leases - Lease Expense (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jul. 03, 2021	Jul. 04, 2020	Jul. 03, 2021	Jul. 04, 2020
Leases [Abstract]
Operating lease expense	$ 39.9	$ 35.3	$ 78.9	$ 71.6
Short-term lease expense	4.4	3.9	8.6	8.0
Variable lease expense	2.2	1.8	4.4	3.7
Total lease expense	$ 46.5	$ 41.0	$ 91.9	$ 83.3