Accumulated Other Comprehensive Income (Loss) and Shareholders' Equity - Reclassification (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Oct. 01, 2022	Sep. 30, 2023	Oct. 01, 2022
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Interest expense, net	$ (9.4)	$ (2.4)	$ (17.5)	$ (6.5)
Income taxes	(9.6)	(16.4)	(15.6)	(18.2)
Selling and administrative expenses	223.3	178.2	602.2	544.3
Gain on sale of subsidiary	0.0	50.6	0.0	50.6
Net of tax	37.8	63.1	26.5	107.6
Reclassifications from accumulated other comprehensive income (loss)
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Net of tax	0.0	3.4	0.0	3.3
Reclassifications from accumulated other comprehensive income (loss) | Unrealized Gains (Losses) on Debt Securities
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Income taxes	(0.0)	0.0	0.0	(0.0)
Selling and administrative expenses	0.0	0.0	(0.1)	0.0
Reclassifications from accumulated other comprehensive income (loss) | Foreign currency translation
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Gain on sale of subsidiary	0.0	3.3	0.0	3.3
Interest rate swap | Reclassifications from accumulated other comprehensive income (loss) | Derivative Financial Instrument
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Interest expense, net	0.0	0.1	0.1	(0.1)
Income taxes	$ 0.0	$ (0.0)	$ (0.0)	$ 0.0