Derivative Financial Instruments - Effect on Income (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2023	Apr. 01, 2022
Derivative Instruments, Gain (Loss) [Line Items]
Net amount of gain (loss) recognized in other comprehensive income (loss) on derivatives	$ 0.0	$ 37.8
Foreign exchange contracts
Derivative Instruments, Gain (Loss) [Line Items]
Net amount of gain (loss) recognized in other comprehensive income (loss) on derivatives	4.9	17.6
Interest rate swaps, net of tax
Derivative Instruments, Gain (Loss) [Line Items]
Net amount of gain (loss) recognized in other comprehensive income (loss) on derivatives	$ (4.9)	$ 20.2