Accumulated Other Comprehensive Loss - Reclassification from OCI (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2023	Apr. 01, 2022
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Other Comprehensive Income (Loss), Cash Flow Hedge, Gain (Loss), before Reclassification, Tax	$ 1.5	$ (3.0)
Net sales	1,128.5	1,136.9
Cost of products sold	(1,031.5)	(1,047.1)
Interest expense	(8.0)	(5.3)
Total	39.0	25.8
Reclassification out of Accumulated Other Comprehensive Income (Loss) | Cash flow hedges:
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Net sales	(0.1)	(1.6)
Cost of products sold	2.2	3.2
Interest expense	(1.7)	2.7
Total	0.4	4.3
Reclassification out of Accumulated Other Comprehensive Income (Loss) | Amortization of retirement benefits:
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Total	0.1	0.2
Reclassification out of Accumulated Other Comprehensive Income (Loss) | Actuarial losses
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Other expense, net	$ 0.1	$ 0.2