Accumulated Other Comprehensive Loss - Reclassification from OCI (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 29, 2023	Sep. 30, 2022	Sep. 29, 2023	Sep. 30, 2022
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Other Comprehensive Income (Loss), Cash Flow Hedge, Gain (Loss), before Reclassification, Tax			$ 1.5	$ (5.7)
Net sales	$ 1,003.1	$ 1,053.5	3,312.1	3,402.4
Cost of products sold	(928.7)	(965.5)	(3,023.9)	(3,143.9)
Interest expense	(6.0)	(6.2)	(20.5)	(17.3)
Total	8.4	33.3	95.1	80.3
Reclassification out of Accumulated Other Comprehensive Income (Loss) | Cash flow hedges:
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Net sales	(1.0)	(10.4)	(1.2)	(19.8)
Cost of products sold	0.1	(0.2)	2.2	3.9
Interest expense	(2.3)	0.7	(6.2)	5.5
Total	(3.2)	(9.9)	(5.2)	(10.4)
Reclassification out of Accumulated Other Comprehensive Income (Loss) | Amortization of retirement benefits:
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Total	0.1	0.6	0.4	1.0
Reclassification out of Accumulated Other Comprehensive Income (Loss) | Actuarial losses
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Other expense, net	0.1	0.2	0.4	0.6
Reclassification out of Accumulated Other Comprehensive Income (Loss) | Curtailment and settlement losses
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Other expense, net	$ 0.0	$ 0.4	$ 0.0	$ 0.4