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Derivative Instruments - Narrative (Details)
€ in Millions, $ in Millions
3 Months Ended 9 Months Ended
Oct. 02, 2022
USD ($)
Oct. 03, 2021
USD ($)
Oct. 02, 2022
USD ($)
Oct. 03, 2021
USD ($)
Oct. 02, 2022
EUR (€)
Derivative Instruments, Gain (Loss) [Line Items]          
Liquidations of cross currency swap     $ 43.1 $ 0.0  
Not designated as hedging instrument          
Derivative Instruments, Gain (Loss) [Line Items]          
Income (expense) related to derivative instruments not designated as cash flow hedges recognized in other income and expense $ 40.5 $ 11.7 70.9 $ 16.5  
Cross currency swap          
Derivative Instruments, Gain (Loss) [Line Items]          
Liquidations of cross currency swap 47.8        
Forward contracts | Designated as hedging instrument          
Derivative Instruments, Gain (Loss) [Line Items]          
Expected reclassification of gain (loss) over the next 12 months 8.0   8.0    
Forward contracts | Designated as hedging instrument | Cash flow hedges | Sell US Dollars and buy Canadian Dollars          
Derivative Instruments, Gain (Loss) [Line Items]          
Derivative notional amount 172.0   172.0    
Forward contracts | Designated as hedging instrument | Cash flow hedges | Sell US Dollars and buy Great Britain Pounds          
Derivative Instruments, Gain (Loss) [Line Items]          
Derivative notional amount 22.9   22.9    
Currency swap and interest rate swap | Designated as hedging instrument          
Derivative Instruments, Gain (Loss) [Line Items]          
Expected reclassification of gain (loss) over the next 12 months 1.1   1.1    
Currency swap one, maturing March 2023 | Designated as hedging instrument | Cash flow hedges          
Derivative Instruments, Gain (Loss) [Line Items]          
Derivative notional amount 125.0   125.0   € 130.0
Currency swap maturing October 2024 | Designated as hedging instrument | Cash flow hedges          
Derivative Instruments, Gain (Loss) [Line Items]          
Derivative notional amount 150.0   150.0   € 156.0
Interest rate swap maturing March 2023 | Designated as hedging instrument | Cash flow hedges          
Derivative Instruments, Gain (Loss) [Line Items]          
Derivative notional amount $ 125.0   $ 125.0