Supplemental Financial Information - Allowance of credit losses (Details) - USD ($) $ in Millions	9 Months Ended
	Sep. 30, 2023	Oct. 01, 2022
Accounts Receivable, Allowance for Credit Loss [Roll Forward]
Beginning balance	$ 34.4	$ 33.0
Provision for credit losses	1.3	5.6
Amounts written off	(4.8)	(3.6)
Other, including foreign currency translation	0.8	(2.3)
Ending balance	$ 31.7	$ 32.7