Leases - Balance Sheet Information (Details) - USD ($) $ in Millions	Dec. 31, 2022	Jan. 01, 2022
Operating leases
Operating lease right-of-use assets	$ 198.6	$ 177.4
Current operating lease obligations	35.7	32.3
Operating lease obligations	174.5	148.7
Total operating lease obligations	210.2	181.0
Financing leases
Property, plant and equipment, net	80.9	90.4
Current maturities of long-term debt	16.8	17.0
Long-term debt	67.2	75.8
Total finance lease obligations	$ 84.0	$ 92.8
Weighted Average Remaining Lease Term
Operating leases	8 years 4 months 24 days	7 years 8 months 12 days
Finance leases	8 years 8 months 12 days	10 years 1 month 6 days
Weighted Average Discount Rate
Operating leases	6.10%	5.90%
Finance leases	5.10%	3.60%