Accumulated Other Comprehensive Income (Loss) and Shareholders' Equity - Stock Repurchases (Details) - USD ($) $ / shares in Units, shares in Millions, $ in Millions	9 Months Ended
	Sep. 30, 2023	Oct. 01, 2022
Accumulated Other Comprehensive Income (Loss) [Line Items]
Shares repurchased per cash flow	$ 0.0	$ (65.2)
Common Stock
Accumulated Other Comprehensive Income (Loss) [Line Items]
Shares repurchased (in shares)	0.0	1.7
Average price per share (in dollars per share)	$ 0	$ 38.11
Cash purchase price	$ 0.0	$ (63.9)
Prior year purchases settled in current year	0.0	(1.3)
Shares repurchased per cash flow	$ 0.0	$ (65.2)