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Restructuring Actions - Additional Information (Details) - USD ($) $ in Millions | 3 Months Ended |  |
--- | --- | --- | ---
Mar. 31, 2024 | Apr. 02, 2023 | Dec. 31, 2023 | Dec. 25, 2022
2018 And 2020 Restructuring Actions |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Restructuring reserve | $ 1.0 |  |  |
Payments for restructuring | 1.6 |  |  |
Operational Excellence Program |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Restructuring reserve | 72.6 | $ 68.7 | $ 81.2 | $ 84.9
Payments for restructuring | $ 14.3 | $ 16.2 |  |
Operational Excellence Program | Minimum |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Expected positions eliminated, period | 18 months |  |  |
Operational Excellence Program | Maximum |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Expected positions eliminated, period | 24 months |  |  |

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