Revenue from Contracts with Customers - Contract Assets and Liabilities (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2024	Apr. 02, 2023
Contract Assets, Current [Roll Forward]
Balance as of beginning of year	$ 59.1	$ 64.1
Recognized in current year	28.0	20.4
Reclassified to accounts receivable	(21.8)	(31.8)
Balance as of period end	65.3	52.7
Contract Liabilities, Current [Roll Forward]
Balance as of beginning of year	163.6	149.1
Recognized in current year	38.1	33.6
Amounts in beginning balance reclassified to revenue	(36.7)	(51.7)
Current year amounts reclassified to revenue	(9.3)	(0.4)
Reclassification to/from long-term	5.9	19.1
Balance as of period end	161.6	149.7
Contract Liabilities, Noncurrent [Roll Forward]
Balance as of beginning of year	39.4	66.8
Recognized in current year	0.6	1.0
Reclassification to/from short-term	(5.9)	(19.1)
Balance as of period end	$ 34.1	$ 48.7