Segment and Disaggregated Revenue Information - Other Expense (Income), Net by Type (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jul. 01, 2023	Jul. 02, 2022	Jul. 01, 2023	Jul. 02, 2022
Other items:
Outcomes of legal proceedings	$ 53.8	$ 0.7	$ 53.8	$ 1.7
Transaction and related costs	4.0	0.1	4.2	0.3
(Gain) loss on sales of assets	0.5	(0.5)	0.5	(0.5)
Gain on venture investment	0.0	0.0	0.0	(3.7)
Other expense (income), net	68.3	3.4	86.1	1.8
Severance and related costs
Restructuring charges:
Restructuring charges	8.8	3.1	25.9	4.0
Asset impairment charges
Restructuring charges:
Restructuring charges	$ 1.2	$ 0.0	$ 1.7	$ 0.0