Income Taxes - Unrecognized Tax Benefits (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 28, 2019	Dec. 29, 2018	Dec. 30, 2017
Unrecognized Tax Benefits [Roll Forward]
Unrecognized tax benefits at beginning of year	$ 15.5	$ 16.2	$ 28.6
Additions based on tax positions taken during a prior period	5.0	1.3	0.2
Reductions based on tax positions taken during a prior period	(1.9)	(0.1)	(6.3)
Settlement on tax positions taken during a prior period	0.0	0.0	(1.0)
Tax rate change	0.0	(0.1)	(4.5)
Lapse in statute of limitations	(2.9)	(4.3)	(3.2)
Additions based on tax positions taken during the current period	1.7	3.0	1.7
Cash payments	(0.2)	0.0	0.0
Foreign exchange	0.1	(0.5)	0.7
Unrecognized tax benefits at end of year	$ 17.3	$ 15.5	$ 16.2