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Revenue from Contracts with Customers - Contract Assets and Liabilities (Details) - USD ($)
$ in Millions
 9 Months Ended
Sep. 29, 2024
Oct. 01, 2023
Contract Assets, Current [Roll Forward]    
Balance as of beginning of year $ 59.1 $ 64.1
Recognized in current year 68.9 66.6
Reclassified to accounts receivable (37.5) (74.1)
Balance as of period end 90.5 56.6
Contract Liabilities, Current [Roll Forward]    
Balance as of beginning of year 163.6 149.1
Recognized in current year 75.1 61.4
Amounts in beginning balance reclassified to revenue (67.7) (86.7)
Current year amounts reclassified to revenue (36.9) (40.9)
Other 0.0 (0.1)
Reclassification to/from long-term 12.4 27.4
Balance as of period end 146.5 110.2
Contract Liabilities, Noncurrent [Roll Forward]    
Balance as of beginning of year 39.4 66.8
Recognized in current year 10.8 1.0
Reclassification to/from short-term (12.4) (27.4)
Balance as of period end $ 37.8 $ 40.4