Restructuring - Summary of Restructuring Cost (Details) - USD ($) $ in Millions	3 Months Ended
Apr. 01, 2023	Apr. 02, 2022
Restructuring Cost and Reserve
Employee termination benefits	$ 11.7	$ 27.3
Asset impairment charges	2.2	1.1
Contract termination costs	0.8	1.0
Other related costs	2.0	1.1
Restructuring costs and asset impairment charges	14.6	29.9
Property, plant and equipment impairments
Restructuring Cost and Reserve
Asset impairment charges	$ 0.1	$ 0.5

Amount of write-down of assets recognized in the income statement. Includes, but is not limited to, losses from tangible assets, intangible assets and goodwill.

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 230
-SubTopic 10
-Section 45
-Paragraph 28
-Subparagraph (b)
-URI https://asc.fasb.org/extlink&oid=126954810&loc=d3e3602-108585

Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 360
-SubTopic 10
-Section 45
-Paragraph 4
-URI https://asc.fasb.org/extlink&oid=126905981&loc=d3e2420-110228

+ Details

Name:	us-gaap_AssetImpairmentCharges
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration

- Definition

Amount of expenses associated with exit or disposal activities pursuant to an authorized plan. Includes, but is not limited to, one-time termination benefits, termination of an operating lease or other contract, consolidating or closing facilities, and relocating employees, and termination benefits associated with an ongoing benefit arrangement. Excludes expenses associated with special or contractual termination benefits, a discontinued operation or an asset retirement obligation.

+ References

+ Details

Name:	us-gaap_BusinessExitCosts1
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration

- Definition

Amount of other expenses associated with exit or disposal activities pursuant to an authorized plan. Excludes expenses associated with a discontinued operation or an asset retirement obligation.

+ References

+ Details

Name:	us-gaap_OtherRestructuringCosts
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration

- Definition

Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

+ References

No definition available.

+ Details

Name:	us-gaap_RestructuringCostAndReserveLineItems
Namespace Prefix:	us-gaap_
Data Type:	xbrli:stringItemType
Balance Type:	na
Period Type:	duration

- Definition

Amount, after cash payment, of expenses associated with exit or disposal activities pursuant to an authorized plan and expenses resulting from the write-down of assets. Excludes expenses related to a business combination, a discontinued operation or an asset retirement obligation.

+ References

+ Details

Name:	us-gaap_RestructuringCostsAndAssetImpairmentCharges
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration

- Definition

Amount of expenses for special or contractual termination benefits provided to current employees involuntarily terminated under a benefit arrangement associated exit or disposal activities pursuant to an authorized plan. Excludes expenses related to one-time termination benefits, a discontinued operation or an asset retirement obligation.

+ References

+ Details

Name:	us-gaap_SeveranceCosts1
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration

- Details

Name:	us-gaap_RestructuringCostAndReserveAxis=us-gaap_PropertyPlantAndEquipmentMember
Namespace Prefix:
Data Type:	na
Balance Type:
Period Type: