Income Per Share - Additional Information (Details) - shares shares in Millions	3 Months Ended		6 Months Ended
	Jun. 30, 2019	Jul. 01, 2018	Jun. 30, 2019	Jul. 01, 2018
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Anti-dilutive shares excluded from diluted weighted average shares outstanding (in shares)	1.2	0.9	1.1	0.7
Anti-dilutive shares excluded from diluted weighted average shares outstanding due to performance conditions not being met (in shares)	0.3	0.3	0.3	0.2
Convertible Preferred Stock
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Anti-dilutive shares excluded from diluted weighted average shares outstanding (in shares)	6.9	6.9	6.9	6.9