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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