Stock-Based Compensation - Expense Included in Selling, General and Administrative Expenses Related to Stock Options and Restricted Stock Awards (Details) - Selling, General and Administrative Expenses - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jun. 30, 2017	Jul. 01, 2016	Jun. 30, 2017	Jul. 01, 2016
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]
Stock-based compensation expense	$ 2.9	$ 3.2	$ 6.5	$ 7.9
Stock Options
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]
Stock-based compensation expense	0.2	0.6	0.3	1.3
RSUs/PSUs
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]
Stock-based compensation expense	2.7	2.6	5.3	5.7
RSAs
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]
Stock-based compensation expense	$ 0.0	$ 0.0	$ 0.9	$ 0.9