Consolidated Statements of Comprehensive Income (Unaudited) (Parentheticals) - USD ($) $ in Millions	3 Months Ended	9 Months Ended
Sep. 30, 2021	Oct. 01, 2020	Sep. 30, 2021	Oct. 01, 2020
Statement of Comprehensive Income [Abstract]
Other Comprehensive (Income) Loss, Defined Benefit Plan, after Reclassification Adjustment, Tax	$ 0.1	$ (7.4)	$ 0.4	$ 0.9
Unrealized exchange (loss) on intercompany loan, tax	0.3	(0.4)	0.2	0.4
Other Comprehensive Income (Loss), Cash Flow Hedge, Gain (Loss), Reclassification, Tax	0.0	(2.8)	(0.3)	(3.1)
Other Comprehensive Income (Loss), Cash Flow Hedge, Gain (Loss), after Reclassification, Tax	$ 0.0	$ 0.0	$ 0.0	$ (3.3)

Other Comprehensive Income Unrealized Gain Loss On Intercompany Loan Tax Verbose en-US Unchecked

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Amount, after reclassification, of tax expense (benefit) for gain (loss) from derivative instrument designated and qualifying as cash flow hedge included in assessment of hedge effectiveness.

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Amount of tax expense (benefit) for reclassification of gain (loss) from accumulated other comprehensive income (AOCI) for derivative instrument designated and qualifying as cash flow hedge included in assessment of hedge effectiveness.

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Amount, after reclassification adjustment, of tax (expense) benefit for (increase) decrease in accumulated other comprehensive income of defined benefit plan.

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