Accumulated Other Comprehensive Income (Loss) and Shareholders' Equity - Stock Repurchases (Details) - USD ($) $ / shares in Units, shares in Millions, $ in Millions	9 Months Ended
	Oct. 01, 2022	Oct. 02, 2021
Accumulated Other Comprehensive Income (Loss) [Line Items]
Shares repurchased per cash flow	$ (65.2)	$ (18.5)
Common Stock
Accumulated Other Comprehensive Income (Loss) [Line Items]
Shares repurchased (in shares)	1.7	0.5
Average price per share (in dollars per share)	$ 38.11	$ 39.52
Cash purchase price	$ (63.9)	$ (19.8)
Purchases unsettled as of quarter end	0.0	1.3
Prior year purchases settled in current year	(1.3)	0.0
Shares repurchased per cash flow	$ (65.2)	$ (18.5)