Derivative Instruments and Hedging Activities - Location and Fair Values of Non-Designated Hedging Instruments Recognized within Consolidated Balance Sheets (Details) - Level 2 - Cash Flow Hedge - Not Designated as Hedging Instrument - USD ($) $ in Millions	Oct. 03, 2021	Jan. 03, 2021
Accrued Liabilities
Derivative [Line Items]
Interest rate derivative contracts	$ 0.0	$ 0.1
Foreign currency forward contracts	0.7	0.1
Other Liabilities
Derivative [Line Items]
Interest rate derivative contracts	6.8	11.1
Cross currency interest rate swap contracts	0.0	10.8
Other Current Assets
Derivative [Line Items]
Foreign currency forward contracts	1.7	0.3
Cross currency interest rate swap contracts	$ 0.0	$ 2.0