Accumulated Other Comprehensive Income (Loss) - Reclassification from OCI (Details) - USD ($) $ in Millions	3 Months Ended
	Apr. 01, 2022	Apr. 02, 2021
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Other Comprehensive Income (Loss), Cash Flow Hedge, Gain (Loss), before Reclassification, Tax	$ (3.0)	$ (1.8)
Net sales	1,136.9	1,088.3
Cost of products sold	(1,047.1)	(983.3)
Interest expense	(5.3)	(5.4)
Total	25.8	42.7
Reclassification out of Accumulated Other Comprehensive Income (Loss) | Cash flow hedges:
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Net sales	(1.6)	0.6
Cost of products sold	3.2	0.4
Interest expense	2.7	2.8
Total	4.3	1.2
Reclassification out of Accumulated Other Comprehensive Income (Loss) | Cash flow hedges: | Not Designated as Hedging Instrument [Member]
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Cost of products sold	0.0	(1.6)
Other expense, net	0.0	(1.0)
Reclassification out of Accumulated Other Comprehensive Income (Loss) | Amortization of retirement benefits:
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Other expense, net	0.2	0.2
Total	$ 0.2	$ 0.2