Leases - Lease Expense (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jun. 27, 2021	Jun. 28, 2020	Jun. 27, 2021	Jun. 28, 2020
Leases [Abstract]
Amortization of right of use assets - finance leases	$ 0.6	$ 0.5	$ 1.1	$ 1.0
Interest on lease liabilities - finance leases	0.7	0.7	1.3	1.3
Operating lease cost	2.8	2.9	5.7	6.4
Short-term lease cost	0.2	0.2	0.4	0.4
Variable lease cost (cost excluded from lease payments)	0.1	0.1	0.1	0.1
Sublease income	(0.1)	(0.2)	(0.1)	(1.0)
Total lease cost	$ 4.3	$ 4.2	$ 8.5	$ 8.2