Supplemental Equity and Comprehensive Income Information - Change in Accumulated Other Comprehensive Loss (Details) - USD ($) $ in Millions	3 Months Ended
	Apr. 02, 2022	Apr. 03, 2021
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	$ 1,924.4
Other comprehensive income (loss) before reclassifications, net of tax	22.9	$ 2.8
Reclassifications to net income, net of tax	0.0	0.7
Other comprehensive income (loss), net of tax	22.9	3.5
Ending balance	1,932.5
Foreign Currency Translation
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	(217.4)	(248.1)
Other comprehensive income (loss) before reclassifications, net of tax	20.3	7.6
Reclassifications to net income, net of tax	0.0	0.0
Other comprehensive income (loss), net of tax	20.3	7.6
Ending balance	(197.1)	(240.5)
Pension and Other Postretirement Benefits
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	(60.4)	(92.7)
Other comprehensive income (loss) before reclassifications, net of tax	0.0	0.0
Reclassifications to net income, net of tax	0.8	1.2
Other comprehensive income (loss), net of tax	0.8	1.2
Ending balance	(59.6)	(91.5)
Cash Flow Hedges
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	(5.1)	(8.8)
Other comprehensive income (loss) before reclassifications, net of tax	2.6	(4.8)
Reclassifications to net income, net of tax	(0.8)	(0.5)
Other comprehensive income (loss), net of tax	1.8	(5.3)
Ending balance	(3.3)	(14.1)
Accumulated other comprehensive loss
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	(282.9)	(349.6)
Other comprehensive income (loss), net of tax	22.9	3.5
Ending balance	$ (260.0)	$ (346.1)