Accumulated Other Comprehensive Income (Loss) - Reclassification from OCI (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 27, 2020	Mar. 29, 2019
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Net sales	$ (1,118.0)	$ (1,154.2)
Cost of products sold	(1,049.5)	(1,059.1)
Interest expense	(5.4)	(6.9)
Total	13.0	36.1
Accumulated Net Gain (Loss) from Cash Flow Hedges Attributable to Parent [Member]
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Other Comprehensive Income (Loss), Cash Flow Hedge, Gain (Loss), before Reclassification, Tax	3.2	1.2
Reclassification out of Accumulated Other Comprehensive Income (Loss) | Changes in fair value of effective cash flow hedges:
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Net sales	(1.0)	(0.9)
Cost of products sold	(0.6)	0.0
Interest expense	1.2	0.4
Total	(0.4)	(0.5)
Reclassification out of Accumulated Other Comprehensive Income (Loss) | Amortization of retirement benefits:
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Other expense, net	0.3	0.1
Total	$ 0.3	$ 0.1