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Receivables - Finance and Contract Receivables Allowance for Credit Losses Rollforward (Details) - USD ($)
$ in Millions
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Oct. 01, 2022
Sep. 30, 2023
Oct. 01, 2022
Allowances for credit losses:        
Provision for credit losses     $ 40.7 $ 24.9
Finance Receivables        
Allowances for credit losses:        
Beginning of period $ 65.1 $ 61.3 60.9 67.3
Provision for credit losses 12.8 9.5 40.7 24.9
Charge-offs (13.7) (12.3) (42.1) (38.5)
Recoveries 1.9 2.0 6.5 7.0
Currency translation (0.1) (0.2) 0.0 (0.4)
End of period 66.0 60.3 66.0 60.3
Contract Receivables        
Allowances for credit losses:        
Beginning of period 6.5 7.2 6.6 8.4
Provision for credit losses 0.7 0.0 1.3 0.1
Charge-offs (0.7) (0.4) (1.6) (1.8)
Recoveries 0.1 0.1 0.3 0.2
Currency translation (0.1) (0.2) (0.1) (0.2)
End of period $ 6.5 $ 6.7 $ 6.5 $ 6.7