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Derivative Instruments and Hedging Activities - Schedule of Gain (Loss) (Details) - USD ($)
$ in Millions
 3 Months Ended 9 Months Ended
Oct. 02, 2022
Oct. 02, 2022
Interest Rate Swap | Interest Expense    
Derivative Instruments and Hedging Activities Disclosures [Line Items]    
Other Comprehensive Income (Loss), Cash Flow Hedge, Gain (Loss), before Reclassification and Tax $ (7.9) $ (11.0)
Other Comprehensive Income (Loss), Cash Flow Hedge, Gain (Loss), Reclassification, before Tax 0.4 1.7
Foreign Exchange Contract | Sales    
Derivative Instruments and Hedging Activities Disclosures [Line Items]    
Other Comprehensive Income (Loss), Cash Flow Hedge, Gain (Loss), before Reclassification and Tax (2.6) (5.0)
Other Comprehensive Income (Loss), Cash Flow Hedge, Gain (Loss), Reclassification, before Tax (0.7) (0.9)
Foreign Exchange Contract | Cost of sales    
Derivative Instruments and Hedging Activities Disclosures [Line Items]    
Other Comprehensive Income (Loss), Cash Flow Hedge, Gain (Loss), before Reclassification and Tax (0.6) (0.8)
Other Comprehensive Income (Loss), Cash Flow Hedge, Gain (Loss), Reclassification, before Tax $ (0.1) $ (0.1)