Derivative Instruments and Hedging Activities - Schedule of Mark-to-Market (Gains) and Losses on Non-Designated Derivatives Recognized (Details) - Other Expense, Net - Not 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
Derivative [Line Items]
Interest rate derivative contracts	$ 0.1	$ 0.4	$ 0.0	$ 1.3
Foreign currency forward contracts	(1.6)	1.5	32.6	3.1
Cross currency interest rate swap contracts	$ 0.0	$ 2.5	$ (24.0)	$ (2.6)