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Retirement Benefits - Narrative (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Jan. 03, 2021 | Dec. 29, 2019 | Dec. 30, 2018
Retirement Benefits [Abstract] |  |  |
Liability for nonqualified plans | $ 216.8 | $ 202.7 |
Earnings (loss) included in SG&A expenses | 23.0 | 32.5 | $ (8.6)
Life insurance cash surrender value | 220.3 | 200.6 |
Proceeds from company-owned life insurance | 2.3 | 3.0 | 7.9
Tax-free earnings (loss) included in SG&A expenses | 23.1 | 32.2 | (8.8)
Net expense for retirement benefits | 3.2 | 9.1 | 9.5
Benefit obligation | 17.6 | 14.8 |
Fair value of plan assets | 11.3 | 9.8 |
Unfunded liability | (6.3) | (5.0) |
Pension expense | $ 0.6 | $ 0.3 | $ 0.5

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