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Revenue - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 29, 2023
Sep. 30, 2022
Sep. 29, 2023
Sep. 30, 2022
Dec. 31, 2022
Dec. 31, 2021
Revenue [Abstract]            
Contract liability         $ 25.9 $ 22.3
Revenue recognized, contract liability $ 2.3 $ 4.6 $ 16.7 $ 19.0    
Contract liability, one time advance payments $ 29.5 $ 22.5 $ 29.5 $ 22.5