Supplemental Financial Information - Allowance of credit losses (Details) - USD ($) $ in Millions	6 Months Ended
	Jul. 01, 2023	Jul. 02, 2022
Accounts Receivable, Allowance for Credit Loss [Roll Forward]
Beginning balance	$ 34.4	$ 33.0
Provision for credit losses	0.0	5.7
Amounts written off	(3.0)	(1.9)
Other, including foreign currency translation	0.9	(1.2)
Ending balance	$ 32.3	$ 35.6