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		6 Months Ended
	Jul. 04, 2021	Jun. 28, 2020	Jul. 04, 2021	Jun. 28, 2020
Derivative [Line Items]
Interest rate derivative contracts	$ 0.1	$ (0.2)	$ (0.1)	$ 0.9
Foreign currency forward contracts	3.8	0.9	34.3	1.6
Cross-currency interest rate swap contracts	$ 0.0	$ (4.3)	$ (24.0)	$ (5.1)