Stock-Based Compensation - Summary of Stock-Based Compensation Expense (Details) - USD ($) $ in Millions	3 Months Ended
Apr. 01, 2022	Apr. 02, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Pretax compensation expense	$ 19.9	$ 16.6
Income tax benefit	(2.7)	(3.1)
Total stock-based compensation expense	17.2	13.5
Stock Awards
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Pretax compensation expense	12.7	10.5
Income tax benefit	(1.7)	(1.9)
Total stock-based compensation expense	11.0	8.6
Stock options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Pretax compensation expense	7.2	6.1
Income tax benefit	(1.0)	(1.2)
Total stock-based compensation expense	$ 6.2	$ 4.9

Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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