Revenue from Contracts with Customers - Contract Assets and Liabilities (Details) - USD ($) $ in Millions	6 Months Ended
	Jun. 30, 2024	Jul. 02, 2023
Contract Assets, Current [Roll Forward]
Balance as of beginning of year	$ 59.1	$ 64.1
Recognized in current year	53.2	41.1
Reclassified to accounts receivable	(24.7)	(53.4)
Balance as of period end	87.6	51.8
Contract Liabilities, Current [Roll Forward]
Balance as of beginning of year	163.6	149.1
Recognized in current year	59.9	58.8
Amounts in beginning balance reclassified to revenue	(50.9)	(69.4)
Current year amounts reclassified to revenue	(20.5)	(22.9)
Other	0.0	(0.1)
Reclassification to/from long-term	8.8	22.3
Balance as of period end	160.9	137.8
Contract Liabilities, Noncurrent [Roll Forward]
Balance as of beginning of year	39.4	66.8
Recognized in current year	3.3	0.9
Reclassification to/from short-term	(8.8)	(22.3)
Balance as of period end	$ 33.9	$ 45.4