Other Income (Expense), Net (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Oct. 01, 2020	Sep. 30, 2021	Oct. 01, 2020
Other Income (Loss) [Line Items]
UK Belfast Pension income	$ 74.2		$ 105.3
Kansas Development Finance Authority bond	0.6	$ 0.6	2.2	$ 2.3
Foreign currency (losses) gains (1)	11.3	(3.4)	3.8	1.4
Gain (Loss) on Foreign Currency Derivative Instruments Not Designated as Hedging Instruments	0.0	(10.6)	0.0	(10.5)
Gain (Loss) on Sale of Accounts Receivable	(1.8)	(2.0)	(4.8)	(6.7)
Pension Income (Expense) without Service Cost	84.8	9.0	137.3	(56.4)
Other Nonoperating Expense	(0.1)	(3.6)
Other Nonoperating Income			0.2	4.5
VRP pension expense		2.6		86.4
Total	$ 94.8	$ (10.0)	$ 138.7	$ (65.4)