Revenue - Revenue Contract Estimates (Details) - USD ($) $ in Millions |
3 Months Ended | 6 Months Ended | ||
|---|---|---|---|---|
Jul. 02, 2021 |
Jul. 03, 2020 |
Jul. 02, 2021 |
Jul. 03, 2020 |
|
| Revenue from Contract with Customer [Abstract] | ||||
| Unfavorable adjustments to operating income | $ 1.7 | $ 1.5 | $ 3.0 | $ (3.8) |
| Unfavorable adjustment to revenue | $ (1.7) | $ (3.6) | ||
| Favorable adjustments to revenue | $ 2.3 | $ 0.6 | ||