Segment and Disaggregated Revenue Information - Other Expense (Income), Net by Type (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Oct. 01, 2022	Sep. 30, 2023	Oct. 01, 2022
Other items:
Outcomes of legal proceedings	$ 2.5	$ 0.0	$ 56.3	$ 1.7
Transaction and related costs	0.0	0.0	4.2	0.3
(Gain) loss on sales of assets	0.0	0.0	0.5	(0.5)
Gain on venture investment	0.0	(8.7)	0.0	(12.4)
Other expense (income), net	46.3	(3.9)	132.4	(2.1)
Severance and related costs
Restructuring charges:
Restructuring charges	38.7	4.7	64.6	8.7
Asset impairment charges
Restructuring charges:
Restructuring charges	$ 5.1	$ 0.1	$ 6.8	$ 0.1