Stock-Based Compensation - Summary of Stock-Based Compensation Expense (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jul. 01, 2022	Jul. 02, 2021	Jul. 01, 2022	Jul. 02, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Pretax compensation expense	$ 25.1	$ 20.2	$ 45.0	$ 36.8
Income tax benefit	(4.4)	(3.2)	(7.1)	(6.3)
Total stock-based compensation expense	20.7	17.0	37.9	30.5
Stock Awards
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Pretax compensation expense	16.0	12.2	28.7	22.7
Income tax benefit	(3.0)	(1.9)	(4.7)	(3.8)
Total stock-based compensation expense	13.0	10.3	24.0	18.9
Stock options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Pretax compensation expense	9.1	8.0	16.3	14.1
Income tax benefit	(1.4)	(1.3)	(2.4)	(2.5)
Total stock-based compensation expense	$ 7.7	$ 6.7	$ 13.9	$ 11.6