Derivative Financial Instruments - Narrative (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jul. 01, 2022	Jun. 30, 2023	Jul. 01, 2022
Derivative [Line Items]
Derivative, Net Liability Position, Aggregate Fair Value	$ 3.9		$ 3.9
Cash Flow Hedge Gain (Loss) to be Reclassified within Twelve Months			6.3
Cash Flow Hedge Gain (Loss) to be Reclassified during the next 6 years	(4.8)		(4.8)
Other expense, net	(6.4)	$ (2.6)	$ (15.7)	$ (6.7)
Derivative Instruments, Gain (Loss) Reclassification from Accumulated OCI to Income, Estimate of Time to Transfer			5 years
Net amount of gain (loss) recognized in other comprehensive income (loss) on derivatives	4.3	$ 6.6	$ 4.3	$ 44.4
Interest Rate Contracts
Derivative [Line Items]
Notional amount	400.0		400.0
Interest Rate Contracts | 2024
Derivative [Line Items]
Notional amount	200.0		200.0
Interest Rate Contracts | 2028
Derivative [Line Items]
Notional amount	$ 200.0		$ 200.0