Derivative Instruments and Hedging Activities - Classification of Gain (Loss) of Cash Flow And Fair Value Hedging Relationships (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 28, 2024	Sep. 30, 2023	Sep. 28, 2024	Sep. 30, 2023
Derivative Instruments, Gain (Loss) [Line Items]
Net sales	$ 1,087.5	$ 1,123.8	$ 3,235.1	$ 3,498.7
Cost of sales	683.1	712.6	2,078.3	2,245.6
Interest expense, net	57.6	43.5	144.7	131.1
Other (income) expense, net	(4.1)	(0.6)	(0.5)	(9.6)
Amount of gain or (loss) reclassified from AOCI into earnings	8.8	6.4	25.2	16.6
Amount excluded from effectiveness testing recognized using a systematic and rational amortization approach	(0.8)	0.3	(1.2)	0.0
Interest rate swap agreements
Derivative Instruments, Gain (Loss) [Line Items]
Amount of gain or (loss) reclassified from AOCI into earnings	8.9	6.4	25.3	16.2
Amount excluded from effectiveness testing recognized using a systematic and rational amortization approach	0.0	0.0	0.0	0.0
Interest rate swap agreements | Net Sales
Derivative Instruments, Gain (Loss) [Line Items]
Amount of gain or (loss) reclassified from AOCI into earnings	0.0	0.0	0.0	0.0
Interest rate swap agreements | Cost of Sales
Derivative Instruments, Gain (Loss) [Line Items]
Amount of gain or (loss) reclassified from AOCI into earnings	0.0	0.0	0.0	0.0
Interest rate swap agreements | Other (Income) Expense, net
Derivative Instruments, Gain (Loss) [Line Items]
Amount of gain or (loss) reclassified from AOCI into earnings	0.0	0.0	0.0	0.0
Foreign currency forward contracts | Net Sales
Derivative Instruments, Gain (Loss) [Line Items]
Amount of gain or (loss) reclassified from AOCI into earnings	(0.3)	(0.2)	(0.4)	0.0
Amount excluded from effectiveness testing recognized using a systematic and rational amortization approach	(0.3)	0.2	(0.8)	0.4
Foreign currency forward contracts | Cost of Sales
Derivative Instruments, Gain (Loss) [Line Items]
Amount of gain or (loss) reclassified from AOCI into earnings	0.2	0.2	0.3	0.4
Amount excluded from effectiveness testing recognized using a systematic and rational amortization approach	(0.2)	0.1	(0.7)	0.1
Foreign currency forward contracts | Interest Expense, net
Derivative Instruments, Gain (Loss) [Line Items]
Amount of gain or (loss) reclassified from AOCI into earnings	0.0	0.0	0.0	0.0
Amount excluded from effectiveness testing recognized using a systematic and rational amortization approach	0.0	0.0	0.0	0.0
Foreign currency forward contracts | Other (Income) Expense, net
Derivative Instruments, Gain (Loss) [Line Items]
Amount of gain or (loss) reclassified from AOCI into earnings	0.0	0.0	0.0	0.0
Amount excluded from effectiveness testing recognized using a systematic and rational amortization approach	$ (0.3)	$ 0.0	$ 0.3	$ (0.5)