Derivative Financial Instruments - Effect on Income (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 29, 2023	Sep. 30, 2022	Sep. 29, 2023	Sep. 30, 2022
Derivative Instruments, Gain (Loss) [Line Items]
Net amount of gain (loss) recognized in other comprehensive income (loss) on derivatives	$ 4.8	$ 11.6	$ 9.1	$ 56.0
Foreign exchange contracts
Derivative Instruments, Gain (Loss) [Line Items]
Net amount of gain (loss) recognized in other comprehensive income (loss) on derivatives	2.5	(2.6)	7.0	17.2
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	$ 2.3	$ 14.2	$ 2.1	$ 38.8