Derivative Instruments and Hedging Activities - Schedule of Gains and Losses from Designated Derivative and Non-derivative Instruments within AOCI (Parenthetical) (Details) - Cash Flow Hedge - Designated as Hedging Instrument - Interest Expense, Net - Interest Rate Derivatives - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Oct. 03, 2021	Sep. 27, 2020	Oct. 03, 2021	Sep. 27, 2020
Derivative [Line Items]
Amount of loss (gain) recognized in OCI on hedges	$ 0.0	$ (0.5)	$ (1.8)	$ 47.1
Loss from cumulative effect of change in accounting standard				$ 3.7