Employee Benefits - Schedule of Assumptions (Details)		12 Months Ended
	Jan. 01, 2023	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Retirement Plans
Benefit obligation:
Discount rate (as a percent)		5.27%	5.63%	3.05%
Net periodic cost:
Return on assets (as a percent)		6.00%	4.00%	5.00%
Retirement Plans | U.S.
Net periodic cost:
Discount rate (as a percent)	5.63%	5.63%	3.05%	2.75%
Return on assets (as a percent)	6.00%
Retirement Plans | U.K.
Net periodic cost:
Discount rate (as a percent)	4.76%	4.76%	1.87%	1.36%
Return on assets (as a percent)	5.50%
Postretirement Plans
Benefit obligation:
Discount rate (as a percent)		5.18%	5.52%	2.72%
Postretirement Plans | U.S.
Net periodic cost:
Discount rate (as a percent)		5.52%	2.72%	2.20%