Supplemental Financial Information - Allowance of credit losses (Details) - USD ($) $ in Millions	9 Months Ended
	Oct. 01, 2022	Oct. 02, 2021
Accounts Receivable, Allowance for Credit Loss [Roll Forward]
Beginning balance	$ 33.0	$ 44.6
Provision for (reversal of) credit losses	5.6	(4.8)
Amounts written off	(3.6)	(3.1)
Other, including foreign currency translation	(2.3)	0.3
Ending balance	$ 32.7	$ 37.0