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Accumulated Other Comprehensive Income (Loss) and Shareholders' Equity - Reclassification (Details) - USD ($)
$ in Millions
 3 Months Ended
Apr. 01, 2023
Apr. 02, 2022
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]    
Interest expense, net $ (2.7) $ (2.0)
Income taxes (2.2) (4.3)
Selling and administrative expenses 167.9 176.5
Net of tax 1.6 14.2
Reclassifications from accumulated other comprehensive income (loss)    
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]    
Net of tax 0.1 (0.2)
Reclassifications from accumulated other comprehensive income (loss) | Unrealized Gains (Losses) on Debt Securities    
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]    
Income taxes 0.0 0.0
Selling and administrative expenses 0.0 0.0
Interest rate swap | Reclassifications from accumulated other comprehensive income (loss) | Derivative Financial Instrument    
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]    
Interest expense, net 0.1 (0.2)
Income taxes $ (0.0) $ 0.1