Accumulated Other Comprehensive Income (Loss) and Shareholders' Equity - Reclassification (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jul. 02, 2022	Jul. 03, 2021	Jul. 02, 2022	Jul. 03, 2021
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Interest expense, net	$ (2.1)	$ (1.9)	$ (4.1)	$ (3.6)
Income taxes	2.5	(5.4)	(1.8)	(11.2)
Net of tax	30.3	17.4	44.5	32.4
Interest rate swap | Reclassifications from accumulated other comprehensive income (loss) | Derivative Financial Instruments
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Interest expense, net	0.1	(0.2)	(0.2)	(0.5)
Income taxes	(0.0)	0.1	0.0	0.1
Net of tax	$ 0.0	$ (0.2)	$ (0.1)	$ (0.4)