Accumulated Other Comprehensive Income (Loss) - Reclassification from OCI (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jun. 28, 2019	Jun. 29, 2018	Jun. 28, 2019	Jun. 29, 2018
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Net sales	$ 1,239.4	$ 1,272.4	$ 2,393.6	$ 2,378.5
Cost of products sold	(1,143.1)	(1,194.1)	(2,204.0)	(2,193.7)
Interest expense	(6.9)	(6.1)	(13.8)	(9.8)
Total	38.1	(7.9)	74.2	33.6
Reclassification out of Accumulated Other Comprehensive Income | Changes in fair value of effective cash flow hedges:
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Net sales	(1.7)	(0.9)	(2.4)	(0.2)
Cost of products sold	(0.5)	(0.1)	(0.6)	(0.3)
Interest expense	0.4	0.1	0.7	0.1
Total	(1.8)	(0.9)	(2.3)	(0.4)
Reclassification out of Accumulated Other Comprehensive Income | Amortization of retirement benefits:
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Other expense, net	0.1	0.2	0.3	0.4
Total	$ 0.1	$ 0.2	$ 0.3	$ 0.4