Derivative Financial Instruments - Effect on Income (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jul. 01, 2022	Jun. 30, 2023	Jul. 01, 2022
Derivative Instruments, Gain (Loss) [Line Items]
Net amount of gain (loss) recognized in other comprehensive income (loss) on derivatives	$ 4.3	$ 6.6	$ 4.3	$ 44.4
Foreign exchange contracts
Derivative Instruments, Gain (Loss) [Line Items]
Net amount of gain (loss) recognized in other comprehensive income (loss) on derivatives	(0.4)	2.2	4.5	19.8
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	$ 4.7	$ 4.4	$ (0.2)	$ 24.6