Derivative Instruments and Hedging Activities - Location and Fair Values of Designated Hedging Instruments Recognized within Consolidated Balance Sheets (Details) - Level 2 - Cash Flow Hedge - Designated as Hedging Instrument - USD ($) $ in Millions	Jul. 04, 2021	Jan. 03, 2021
Accrued Liabilities
Derivative [Line Items]
Interest rate derivative contracts	$ 0.1	$ 0.1
Foreign currency forward contracts	4.8	10.0
Other Liabilities
Derivative [Line Items]
Interest rate derivative contracts	30.7	44.1
Other Current Assets
Derivative [Line Items]
Foreign currency forward contracts	$ 5.6	$ 4.2