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Derivative Financial Instruments - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 29, 2023
Sep. 30, 2022
Sep. 29, 2023
Sep. 30, 2022
Derivative [Line Items]        
Derivative, Net Liability Position, Aggregate Fair Value $ 2.6   $ 2.6  
Cash Flow Hedge Gain (Loss) to be Reclassified within Twelve Months     7.8  
Cash Flow Hedge Gain (Loss) to be Reclassified during the next 6 years (7.9)   (7.9)  
Other expense, net (7.1) $ (9.1) $ (22.7) $ (15.7)
Derivative Instruments, Gain (Loss) Reclassification from Accumulated OCI to Income, Estimate of Time to Transfer     5 years  
Net amount of gain (loss) recognized in other comprehensive income (loss) on derivatives 4.8 $ 11.6 $ 9.1 $ 56.0
Interest Rate Contracts        
Derivative [Line Items]        
Notional amount 400.0   400.0  
Interest Rate Contracts | 2024        
Derivative [Line Items]        
Notional amount 200.0   200.0  
Interest Rate Contracts | 2028        
Derivative [Line Items]        
Notional amount $ 200.0   $ 200.0