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Restructuring - Narrative (Details) - USD ($)
$ in Millions
 3 Months Ended 12 Months Ended
Dec. 31, 2023
Apr. 02, 2023
Dec. 31, 2023
Jan. 01, 2023
Jan. 02, 2022
Restructuring Cost and Reserve [Line Items]          
Restructuring charges included in SG&A expenses     $ 40.6 $ 1.7  
Severance Costs         $ 4.0
Asset impairment charge     $ 2.4 0.0 0.0
Restructuring, Incurred Cost, Statement of Income or Comprehensive Income [Extensible Enumeration]     Selling, General and Administrative Expense    
Restructuring reserve $ 15.1   $ 15.1 $ 0.3 $ 2.9
2023 Actions          
Restructuring Cost and Reserve [Line Items]          
Restructuring charges included in SG&A expenses   $ 5.7 38.6    
Severance Costs $ 3.1 4.6 19.3    
Business exit costs   $ 1.1      
2023 Actions | Transformation Activities          
Restructuring Cost and Reserve [Line Items]          
Severance Costs     11.6    
Asset impairment charge     2.4    
Restructuring and related cost, incurred cost     32.2    
Professional fees     17.7    
Business exit costs     $ 0.5