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Restructuring and Impairment (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2023
Oct. 01, 2022
Sep. 30, 2023
Oct. 01, 2022
Dec. 31, 2022
Restructuring Cost and Reserve [Line Items]          
Restructuring costs $ 5.6 $ 3.6 $ 13.9 $ 5.0  
Restructuring reserve 9.2   9.2   $ 0.5
Inventory valuation | Workplace furnishings          
Restructuring Cost and Reserve [Line Items]          
Restructuring costs 0.0 3.3 (0.3) 3.5  
Facility set-up costs | Workplace furnishings          
Restructuring Cost and Reserve [Line Items]          
Restructuring costs 0.3 0.3 0.8 0.5  
Long-lived asset charges | Workplace furnishings          
Restructuring Cost and Reserve [Line Items]          
Restructuring costs 0.2 0.0 2.3 0.0  
Exit costs | Workplace furnishings          
Restructuring Cost and Reserve [Line Items]          
Restructuring costs 5.1 0.0 11.1 0.0  
Investment impairment | General Corporate          
Restructuring Cost and Reserve [Line Items]          
Restructuring costs $ 0.0 $ 0.0 $ 0.0 $ 1.0