Derivative Financial Instruments - Effect on Income (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 27, 2020	Mar. 29, 2019
Derivative Instruments, Gain (Loss) [Line Items]
Amount of gain (loss) recognized in other comprehensive income on derivatives (effective portion)	$ (30.5)	$ (5.3)
Amount of gain (loss) reclassified from AOCI into income (effective portion)	0.4	0.5
Foreign exchange contracts | Net sales
Derivative Instruments, Gain (Loss) [Line Items]
Amount of gain (loss) recognized in other comprehensive income on derivatives (effective portion)	(1.1)	3.3
Amount of gain (loss) reclassified from AOCI into income (effective portion)	1.0	0.9
Foreign exchange contracts | Cost of products sold
Derivative Instruments, Gain (Loss) [Line Items]
Amount of gain (loss) recognized in other comprehensive income on derivatives (effective portion)	0.2	0.6
Amount of gain (loss) reclassified from AOCI into income (effective portion)	0.6	0.0
Interest rate swaps, net of tax | Cost of products sold
Derivative Instruments, Gain (Loss) [Line Items]
Amount of gain (loss) recognized in other comprehensive income on derivatives (effective portion)	(8.3)	0.0
Amount of gain (loss) reclassified from AOCI into income (effective portion)	0.0	0.0
Interest Rate Swap [Member] | Interest expense
Derivative Instruments, Gain (Loss) [Line Items]
Amount of gain (loss) recognized in other comprehensive income on derivatives (effective portion)	(21.3)	(9.2)
Amount of gain (loss) reclassified from AOCI into income (effective portion)	$ (1.2)	$ (0.4)