Pension Plans and Postretirement Benefits (Details) - Pension Plan - USD ($) $ in Millions	3 Months Ended
	Mar. 29, 2020	Mar. 31, 2019
Components of net period pension benefit expense
Service cost — benefits earned during the period	$ 2.6	$ 2.4
Interest cost on benefit obligation	6.9	8.4
Expected return on plan assets	(14.3)	(16.5)
Amortization of prior service cost	(1.5)	(1.5)
Amortization of net actuarial loss	5.7	7.7
Curtailment/settlements	0.7	(0.3)
Non-service (income) expense	$ (2.5)	$ (2.2)