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Segment and Disaggregated Revenue Information - Other expense (income), net by type (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 26, 2020
Sep. 28, 2019
Sep. 26, 2020
Sep. 28, 2019
Restructuring charges:        
Restructuring charges     $ 52.6  
Other items:        
Loss on investment $ 1.5   1.5  
Transaction and related costs     3.2  
Legal settlement   $ 3.4   $ 3.4
Gain on sales of assets       (3.2)
Other expense (income), net 12.4 6.7 57.3 21.7
Severance and related costs        
Restructuring charges:        
Restructuring charges 6.5 $ 3.3 46.4 19.8
Asset impairment charges and lease cancellation costs        
Restructuring charges:        
Restructuring charges $ 4.4   $ 6.2 $ 1.7