Other Income (Expense) - Net - Computation of Other Income (Expense) - Net (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Oct. 02, 2021	Sep. 26, 2020	Oct. 02, 2021	Sep. 26, 2020
Other Income and Expenses [Abstract]
Interest income	$ 0.4	$ 0.5	$ 1.2	$ 1.2
Net foreign exchange loss	(0.5)	(0.4)	(0.5)	(3.0)
Net periodic pension and postretirement benefits – non-service	3.8	2.6	11.4	8.0
Foreign currency translation loss from sale of equity interest	0.0	0.0	(1.0)	0.0
Other	0.0	0.1	0.3	0.1
Total other income (expense) – net	$ 3.7	$ 2.8	$ 11.4	$ 6.3