Accumulated Other Comprehensive Loss - Rollforward (Details) - USD ($) $ in Millions	3 Months Ended
	Apr. 02, 2021	Apr. 03, 2020
AOCI Including Portion Attributable to Noncontrolling Interest, Net of Tax [Roll Forward]
Balance, beginning of period	$ 3,721.0
Increase (decrease) before reclassifications	(41.6)	$ (33.8)
Income tax impact	(10.7)	(12.3)
Other comprehensive (loss) income before reclassifications, net of income taxes	(52.3)	(46.1)
Increase (decrease) reclassified	0.2	0.5
Income tax impact, reclassified	0.0	(0.1)
Amounts reclassified from accumulated other comprehensive (loss) income, net of income taxes	0.2	0.4
Net current period other comprehensive (loss) income, net of income taxes	(52.1)	(45.7)
Balance, end of period	3,747.3
Foreign Currency Translation Adjustments
AOCI Including Portion Attributable to Noncontrolling Interest, Net of Tax [Roll Forward]
Balance, beginning of period	(62.5)	(116.4)
Increase (decrease) before reclassifications	(43.4)	(22.1)
Income tax impact	(10.3)	(15.1)
Other comprehensive (loss) income before reclassifications, net of income taxes	(53.7)	(37.2)
Increase (decrease) reclassified	0.0	0.0
Income tax impact, reclassified	0.0	0.0
Amounts reclassified from accumulated other comprehensive (loss) income, net of income taxes	0.0	0.0
Net current period other comprehensive (loss) income, net of income taxes	(53.7)	(37.2)
Balance, end of period	(116.2)	(153.6)
Unrealized Gain (Loss) on Cash Flow Hedges
AOCI Including Portion Attributable to Noncontrolling Interest, Net of Tax [Roll Forward]
Balance, beginning of period	(6.3)	0.1
Increase (decrease) before reclassifications	1.8	(11.7)
Income tax impact	(0.4)	2.8
Other comprehensive (loss) income before reclassifications, net of income taxes	1.4	(8.9)
Increase (decrease) reclassified	0.0	0.0
Income tax impact, reclassified	0.0	0.0
Amounts reclassified from accumulated other comprehensive (loss) income, net of income taxes	0.0	0.0
Net current period other comprehensive (loss) income, net of income taxes	1.4	(8.9)
Balance, end of period	(4.9)	(8.8)
Unrealized Pension Costs
AOCI Including Portion Attributable to Noncontrolling Interest, Net of Tax [Roll Forward]
Balance, beginning of period	(23.0)	(27.9)
Increase (decrease) before reclassifications	0.0	0.0
Income tax impact	0.0	0.0
Other comprehensive (loss) income before reclassifications, net of income taxes	0.0	0.0
Increase (decrease) reclassified	0.2	0.5
Income tax impact, reclassified	0.0	(0.1)
Amounts reclassified from accumulated other comprehensive (loss) income, net of income taxes	0.2	0.4
Net current period other comprehensive (loss) income, net of income taxes	0.2	0.4
Balance, end of period	(22.8)	(27.5)
Total Accumulated Other Comprehensive Loss
AOCI Including Portion Attributable to Noncontrolling Interest, Net of Tax [Roll Forward]
Balance, beginning of period	(91.8)	(144.2)
Balance, end of period	$ (143.9)	$ (189.9)