Supplemental Equity and Comprehensive Income Information - Change in Accumulated Other Comprehensive Loss (Details) - USD ($) $ in Millions	3 Months Ended
	Apr. 01, 2023	Apr. 02, 2022
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	$ 2,032.2
Other comprehensive income (loss) before reclassifications, net of tax	2.2	$ 22.9
Reclassifications to net income, net of tax	0.8	0.0
Other comprehensive income, net of tax	3.0	22.9
Ending balance	2,042.9
Total
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	(364.0)	(282.9)
Other comprehensive income, net of tax	3.0	22.9
Ending balance	(361.0)	(260.0)
Foreign Currency Translation
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	(314.0)	(217.4)
Other comprehensive income (loss) before reclassifications, net of tax	0.4	20.3
Reclassifications to net income, net of tax	0.0	0.0
Other comprehensive income, net of tax	0.4	20.3
Ending balance	(313.6)	(197.1)
Pension and Other Postretirement Benefits
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	(51.3)	(60.4)
Other comprehensive income (loss) before reclassifications, net of tax	0.0	0.0
Reclassifications to net income, net of tax	(0.2)	0.8
Other comprehensive income, net of tax	(0.2)	0.8
Ending balance	(51.5)	(59.6)
Cash Flow Hedges
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	1.3	(5.1)
Other comprehensive income (loss) before reclassifications, net of tax	1.8	2.6
Reclassifications to net income, net of tax	1.0	(0.8)
Other comprehensive income, net of tax	2.8	1.8
Ending balance	$ 4.1	$ (3.3)