Supplemental Equity and Comprehensive Income Information - Change in Accumulated Other Comprehensive Loss (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jul. 03, 2021	Jun. 27, 2020	Jul. 03, 2021	Jun. 27, 2020
Changes in Accumulated other comprehensive loss (net of tax)
Beginning balance			$ 1,484.9
Other comprehensive income (loss), net of tax	$ 18.5	$ 8.8	22.0	$ (55.1)
Ending balance	1,703.6		1,703.6
Foreign Currency Translation
Changes in Accumulated other comprehensive loss (net of tax)
Beginning balance			(248.1)	(245.1)
Other comprehensive income (loss) before reclassifications, net of tax			17.7	(55.0)
Other comprehensive income (loss), net of tax			17.7	(55.0)
Ending balance	(230.4)	(300.1)	(230.4)	(300.1)
Pension and Other Postretirement Benefits
Changes in Accumulated other comprehensive loss (net of tax)
Beginning balance			(92.7)	(101.8)
Reclassifications to net income, net of tax			2.0	1.3
Other comprehensive income (loss), net of tax			2.0	1.3
Ending balance	(90.7)	(100.5)	(90.7)	(100.5)
Cash Flow Hedges
Changes in Accumulated other comprehensive loss (net of tax)
Beginning balance			(8.8)	(1.2)
Other comprehensive income (loss) before reclassifications, net of tax			3.5	(1.5)
Reclassifications to net income, net of tax			(1.2)	0.1
Other comprehensive income (loss), net of tax			2.3	(1.4)
Ending balance	(6.5)	(2.6)	(6.5)	(2.6)
Accumulated other comprehensive loss
Changes in Accumulated other comprehensive loss (net of tax)
Beginning balance			(349.6)	(348.1)
Other comprehensive income (loss) before reclassifications, net of tax			21.2	(56.5)
Reclassifications to net income, net of tax			0.8	1.4
Other comprehensive income (loss), net of tax			22.0	(55.1)
Ending balance	$ (327.6)	$ (403.2)	$ (327.6)	$ (403.2)