Restructuring Activities and Related Impairments - Schedule of restructuring reserve by type cost (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jun. 28, 2024	Jun. 30, 2023	Jun. 28, 2024	Jun. 30, 2023
Restructuring Cost and Reserve [Line Items]
Costs incurred	$ 5.8	$ 13.6	$ 12.7	$ 17.9
Cost of sales
Restructuring Cost and Reserve [Line Items]
Costs incurred	3.3	4.8	5.0	6.3
Selling, general and administrative expenses
Restructuring Cost and Reserve [Line Items]
Costs incurred	2.5	8.8	7.7	11.6
Specialty Products & Technologies
Restructuring Cost and Reserve [Line Items]
Costs incurred	4.6	6.2	7.9	7.8
Equipment & Consumables
Restructuring Cost and Reserve [Line Items]
Costs incurred	0.4	6.4	3.2	9.0
Other
Restructuring Cost and Reserve [Line Items]
Costs incurred	$ 0.8	$ 1.0	$ 1.6	$ 1.1