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Leases - Lease Costs included in the Condensed Consolidated Statements on Comprehensive Income (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2022
Jan. 01, 2022
Jan. 02, 2021
Finance lease costs      
Total lease costs $ 31.9 $ 29.4 $ 30.0
Cost of sales      
Lessee, Lease, Description [Line Items]      
Fixed 2.9 2.3 1.8
Short-term / variable 1.3 1.0 0.4
Finance lease costs      
Amortization 1.2 0.9 0.5
Less: Sublease income 0.0 (0.2) 0.0
Selling and administrative expenses      
Lessee, Lease, Description [Line Items]      
Fixed 22.7 23.1 25.4
Short-term / variable 1.5 0.7 1.8
Finance lease costs      
Less: Sublease income (0.3) (0.3) (0.1)
Selling and administrative, and interest expense      
Finance lease costs      
Amortization $ 2.5 $ 1.9 $ 0.3