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Restructuring and Transformation Activities - Schedule of Restructuring and Related Costs (Details) - USD ($)
$ in Millions
 3 Months Ended
Mar. 31, 2024
Apr. 02, 2023
Restructuring Cost and Reserve [Line Items]    
Severance Costs $ 1.1 $ 4.6
Other Restructuring Costs 1.2 2.0
Restructuring charges 2.3 6.6
Professional & Industrial    
Restructuring Cost and Reserve [Line Items]    
Severance Costs 0.1 2.7
Other Restructuring Costs 0.0 0.3
Restructuring charges 0.1 3.0
Outsourcing & Consulting    
Restructuring Cost and Reserve [Line Items]    
Severance Costs 0.6 0.6
Other Restructuring Costs 0.0 0.0
Restructuring charges 0.6 0.6
Corporate    
Restructuring Cost and Reserve [Line Items]    
Severance Costs 0.4 0.2
Other Restructuring Costs 1.2 1.6
Restructuring charges $ 1.6 $ 1.8