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Retirement Benefits - Narrative (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Jan. 01, 2023 | Jan. 02, 2022
Retirement Benefits [Abstract] |  |  |
Liability for nonqualified plans | $ 233.8 | $ 196.6 |
Earnings (loss) included in SG&A expenses | 32.9 | (36.3) | $ 27.0
Life insurance cash surrender value | 230.3 | 194.3 |
Proceeds from company-owned life insurance | 0.0 | 1.5 | 12.2
Tax-free earnings (loss) included in SG&A expenses | 32.2 | (36.0) | 26.0
Net expense for retirement benefits | 10.9 | 9.4 | 10.0
Benefit obligation | 9.7 | 10.4 |
Fair value of plan assets | 8.0 | 7.5 |
Unfunded liability | (1.7) | (2.9) |
Pension expense | $ 0.2 | $ 0.4 | $ 0.5

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- Definition Amount of actuarial present value of benefits attributed to service rendered by employee for defined benefit plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (a) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-1 + Details
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