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Revenues - Contract Assets and Liabilities (Details) - USD ($) $ in Millions | 3 Months Ended | 6 Months Ended |
--- | --- | --- | ---
Jul. 03, 2020 | Jun. 28, 2019 | Jul. 03, 2020 | Jun. 28, 2019 | Jan. 03, 2020
Disaggregation of Revenue [Line Items] |  |  |  |  |
Contract assets | $ 13.8 |  | $ 13.8 |  | $ 1.1
Contract with customer, liability | 16.3 |  | 16.3 |  | 6.6
Contract with customer, liability, current | 1.3 |  | 1.3 |  | $ 0.0
Amount of revenues recognized included in the beginning contract liability balance |  |  | 3.4 | $ 1.8 |
Revenues recognized for performance obligations satisfied in previous periods | 62.0 | $ 36.1 | 82.2 | $ 61.4 |
Remaining performance obligation | 71.4 |  | 71.4 |  |
Takeda |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |
Reduction related to a milestone | $ 10.0 |  | $ 10.0 |  |

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- Definition Amount, after allowance for credit loss, of right to consideration in exchange for good or service transferred to customer when right is conditioned on something other than passage of time, classified as current. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 606 -SubTopic 10 -Section 45 -Paragraph 1 -URI http://asc.fasb.org/extlink&oid=121556615&loc=SL49130531-203044 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 606 -SubTopic 10 -Section 45 -Paragraph 3 -URI http://asc.fasb.org/extlink&oid=121556615&loc=SL49130533-203044 Reference 3: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 606 -SubTopic 10 -Section 50 -Paragraph 8 -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=121604090&loc=SL49130549-203045 + Details
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