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Restructuring and Transformation Activities - Schedule of Restructuring and Related Costs (Details) - USD ($)
$ in Millions
 3 Months Ended 6 Months Ended
Jun. 30, 2024
Mar. 31, 2024
Jul. 02, 2023
Apr. 02, 2023
Jun. 30, 2024
Jul. 02, 2023
Restructuring Cost and Reserve [Line Items]            
Severance Costs $ 2.4   $ 1.1   $ 3.5  
Other Restructuring Costs 1.9   4.5   3.1  
Total 4.3 $ 2.3 5.6 $ 6.6 6.6  
2023 Actions            
Restructuring Cost and Reserve [Line Items]            
Severance Costs           $ 5.7
Other Restructuring Costs           6.5
Total           12.2
Corporate, Non-Segment            
Restructuring Cost and Reserve [Line Items]            
Severance Costs 1.8   0.6   2.2  
Other Restructuring Costs 1.9   4.5   3.1  
Total 3.7   5.1   5.3  
Corporate, Non-Segment | 2023 Actions            
Restructuring Cost and Reserve [Line Items]            
Severance Costs           0.8
Other Restructuring Costs           6.1
Total           6.9
Professional & Industrial            
Restructuring Cost and Reserve [Line Items]            
Severance Costs 0.3   0.3   0.4  
Other Restructuring Costs 0.0   0.0   0.0  
Total 0.3   0.3   0.4  
Professional & Industrial | 2023 Actions            
Restructuring Cost and Reserve [Line Items]            
Severance Costs           3.0
Other Restructuring Costs           0.3
Total           3.3
Science, Engineering & Technology            
Restructuring Cost and Reserve [Line Items]            
Severance Costs 0.3   0.0   0.3  
Other Restructuring Costs 0.0   0.0   0.0  
Total 0.3   0.0   0.3  
Science, Engineering & Technology | 2023 Actions            
Restructuring Cost and Reserve [Line Items]            
Severance Costs           0.4
Other Restructuring Costs           0.1
Total           0.5
Education            
Restructuring Cost and Reserve [Line Items]            
Severance Costs     0.3      
Other Restructuring Costs     0.0      
Total     0.3      
Education | 2023 Actions            
Restructuring Cost and Reserve [Line Items]            
Severance Costs           0.4
Other Restructuring Costs           0.0
Total           0.4
Outsourcing & Consulting            
Restructuring Cost and Reserve [Line Items]            
Severance Costs 0.0   (0.1)   0.6  
Other Restructuring Costs 0.0   0.0   0.0  
Total $ 0.0   (0.1)   $ 0.6  
Outsourcing & Consulting | 2023 Actions            
Restructuring Cost and Reserve [Line Items]            
Severance Costs           0.5
Other Restructuring Costs           0.0
Total           0.5
International            
Restructuring Cost and Reserve [Line Items]            
Severance Costs     0.0      
Other Restructuring Costs     0.0      
Total     $ 0.0      
International | 2023 Actions            
Restructuring Cost and Reserve [Line Items]            
Severance Costs           0.6
Other Restructuring Costs           0.0
Total           $ 0.6