Leases - Lease Expense (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Jan. 01, 2022
Leases [Abstract]
Operating lease cost	$ 51.3	$ 50.0
Short-term lease cost	4.3	6.3
Finance lease cost
Amortization of right-of-use assets	17.8	15.7
Interest on lease liabilities	4.2	3.6
Total finance lease cost	22.0	19.3
Sublease income	1.4	0.8
Cash paid for amounts included in the measurement of lease liabilities:
Operating cash flows from operating leases	48.8	51.4
Operating cash flows from finance leases	4.1	3.3
Financing cash flows from finance leases	17.0	13.8
Right-of-use assets obtained in exchange for lease obligations:
Operating leases	73.3	37.2
Finance leases	$ 12.0	$ 35.8