Receivables - Finance and Contract Receivables Allowance for Credit Losses Rollforward (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 28, 2020	Mar. 30, 2019
Financing Receivable, Allowance for Credit Loss [Line Items]
Beginning of period	$ 67.5
Finance Receivables
Financing Receivable, Allowance for Credit Loss [Line Items]
Beginning of period	61.9	$ 61.4
Impact of adopting ASU No. 2016-13	5.2
Provision for credit losses	16.3	12.5
Charge-offs	15.9	15.0
Recoveries	2.0	2.0
Currency translation	(0.3)	0.1
End of period	69.2	61.0
Contract Receivables
Financing Receivable, Allowance for Credit Loss [Line Items]
Beginning of period	5.6	4.3
Impact of adopting ASU No. 2016-13	2.9
Provision for credit losses	1.4	0.9
Charge-offs	1.3	0.7
Recoveries	0.0	0.1
Currency translation	0.0	0.1
End of period	$ 8.6	$ 4.7