Derivative Instruments and Hedging Activities - Schedule of Gains and Losses from Designated Derivative and Non-derivative Instruments within AOCI (Details) - Designated as Hedging Instrument - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Oct. 03, 2021	Sep. 27, 2020	Oct. 03, 2021	Sep. 27, 2020
Cash Flow Hedge | Cost of Revenue Excluding Amortization of Intangible Assets | Foreign Currency Derivatives
Derivative [Line Items]
Amount of loss (gain) recognized in OCI on hedges	$ (1.0)	$ 1.5	$ (3.7)	$ (2.2)
Amount of net loss (gain) reclassified from AOCI into income	1.1	(2.0)	2.7	(4.5)
Cash Flow Hedge | Interest Expense, Net | Interest Rate Derivatives
Derivative [Line Items]
Amount of loss (gain) recognized in OCI on hedges	0.0	(0.5)	(1.8)	47.1
Amount of net loss (gain) reclassified from AOCI into income	5.9	$ 0.5	20.9	$ (1.9)
Net Investment Hedge | Foreign currency-Denominated Debt
Derivative [Line Items]
Amount of loss (gain) recognized in OCI on hedges	$ 0.8		$ 3.8