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
	Apr. 03, 2022	Apr. 04, 2021
Derivative [Line Items]
Interest rate cap derivatives	$ (1.9)	$ 0.2
Foreign currency derivatives	8.3	30.4
Cross currency swaps	$ 0.0	$ (24.0)