Fair Value Measurements - Financial Assets and Liabilities Carried at Fair Value (Details) - USD ($) $ in Millions	Jul. 02, 2021	Dec. 31, 2020
Liability
Liabilities:
Noncurrent deferred compensation liability	$ 14.9	$ 11.8
Liability | Quoted Prices in Active Market (Level 1)
Liabilities:
Noncurrent deferred compensation liability	0.0	0.0
Liability | Significant Other Observable Inputs (Level 2)
Liabilities:
Noncurrent deferred compensation liability	14.9	11.8
Liability | Significant Unobservable Inputs (Level 3)
Liabilities:
Noncurrent deferred compensation liability	0.0	0.0
Interest rate swap derivative contracts
Liabilities:
Swap derivative contract liability	5.1	8.3
Interest rate swap derivative contracts | Quoted Prices in Active Market (Level 1)
Liabilities:
Swap derivative contract liability	0.0	0.0
Interest rate swap derivative contracts | Significant Other Observable Inputs (Level 2)
Liabilities:
Swap derivative contract liability	5.1	8.3
Interest rate swap derivative contracts | Significant Unobservable Inputs (Level 3)
Liabilities:
Swap derivative contract liability	0.0	0.0
Cross-currency swap derivative contracts
Liabilities:
Swap derivative contract liability	42.8	61.8
Cross-currency swap derivative contracts | Quoted Prices in Active Market (Level 1)
Liabilities:
Swap derivative contract liability	0.0	0.0
Cross-currency swap derivative contracts | Significant Other Observable Inputs (Level 2)
Liabilities:
Swap derivative contract liability	42.8	61.8
Cross-currency swap derivative contracts | Significant Unobservable Inputs (Level 3)
Liabilities:
Swap derivative contract liability	$ 0.0	$ 0.0