Revenue - Revenue Contract Estimates (Details) - USD ($) $ in Millions |
3 Months Ended | 9 Months Ended | ||
|---|---|---|---|---|
Oct. 01, 2021 |
Oct. 02, 2020 |
Oct. 01, 2021 |
Oct. 02, 2020 |
|
| Revenue from Contract with Customer [Abstract] | ||||
| Favorable adjustments to operating income | $ 2.6 | $ 0.1 | ||
| Unfavorable adjustments to operating income | $ (0.4) | $ (3.8) | ||
| Favorable adjustments to revenue | $ 3.0 | $ 1.4 | ||
| Unfavorable adjustment to revenue | $ 1.1 | $ 0.5 | ||