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Property and Equipment
 12 Months Ended
Jan. 02, 2021
Property, Plant and Equipment [Abstract]  
Property and Equipment Property and Equipment
Property and equipment (which are carried at cost) as of 2020 and 2019 year end are as follows: 
(Amounts in millions)20202019
Land$34.0 $31.9 
Buildings and improvements432.0 405.1 
Machinery, equipment and computer software1,033.4 988.0 
Property and equipment – gross1,499.4 1,425.0 
Accumulated depreciation and amortization(973.2)(903.5)
Property and equipment – net$526.2 $521.5 
The estimated service lives of property and equipment are principally as follows: 
Buildings and improvements  
3 to 50 years
Machinery, equipment and computer software  
2 to 15 years
Depreciation expense was $73.3 million, $70.1 million and $68.8 million in 2020, 2019 and 2018, respectively.