Balance Sheet Information and Other - Pension Expense (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Oct. 01, 2021	Oct. 02, 2020	Oct. 01, 2021	Oct. 02, 2020
Balance Sheet Related Disclosures [Abstract]
Service cost	$ 2.8	$ 2.7	$ 8.9	$ 8.1
Interest cost	1.1	1.2	3.3	3.5
Expected return on plan assets	(1.6)	(1.6)	(4.9)	(4.7)
Curtailment gain	(2.3)	0.0	(0.4)	(1.6)
Total net periodic pension cost	$ 0.0	$ 2.3	$ 6.9	$ 5.3