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Accumulated Other Comprehensive Income (Loss) and Shareholders' Equity - Share Repurchase (Details) - USD ($)
$ / shares in Units, $ in Millions
 12 Months Ended
Dec. 31, 2022
Jan. 01, 2022
Jan. 02, 2021
Class of Stock [Line Items]      
Shares repurchased per cash flow $ 65.2 $ 59.2 $ 6.8
Common Stock      
Class of Stock [Line Items]      
Stock repurchased during period (shares) 1,700,000 1,500,000 200,000
Average price per share (in dollars per share) $ 38.11 $ 39.89 $ 29.83
Cash purchase price $ (63.9) $ (60.4) $ (6.4)
Purchases unsettled as of year end 0.0 1.3 0.0
Prior year purchases settled in current year (1.3) 0.0 (0.4)
Shares repurchased per cash flow $ 65.2 $ 59.2 $ 6.8