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Derivative Instruments - Narrative (Details)
3 Months Ended 6 Months Ended
Jun. 28, 2020
USD ($)
Jun. 30, 2019
USD ($)
Jun. 28, 2020
USD ($)
Jun. 30, 2019
USD ($)
Jun. 28, 2020
EUR (€)
Not Designated as Hedging Instrument          
Derivative Instruments, Gain (Loss) [Line Items]          
Income (expense) related to derivative instruments not designated as cash flow hedges recognized in other income and expense $ (1,800,000) $ 700,000 $ 8,600,000 $ (900,000)  
Foreign Exchange Forward | Designated as Hedging Instrument          
Derivative Instruments, Gain (Loss) [Line Items]          
Expected reclassification of gain (loss) over the next 12 months (900,000)   (900,000)    
Foreign Exchange Forward | Designated as Hedging Instrument | Sell US Dollars and Buy Canadian Dollars          
Derivative Instruments, Gain (Loss) [Line Items]          
Foreign currency contract 93,100,000   93,100,000    
Foreign Exchange Forward | Designated as Hedging Instrument | Sell US Dollars and Buy Great Britain Pounds          
Derivative Instruments, Gain (Loss) [Line Items]          
Foreign currency contract 6,500,000   6,500,000    
Currency Swap and Interest Rate Swap | Designated as Hedging Instrument          
Derivative Instruments, Gain (Loss) [Line Items]          
Expected reclassification of gain (loss) over the next 12 months 2,000,000.0   2,000,000.0    
Currency Swap Maturing March 2023 | Designated as Hedging Instrument          
Derivative Instruments, Gain (Loss) [Line Items]          
Foreign currency contract 125,000,000   125,000,000   € 113,000,000.0
Currency Swap Maturing October 2024 | Designated as Hedging Instrument          
Derivative Instruments, Gain (Loss) [Line Items]          
Foreign currency contract 150,000,000.0   150,000,000.0   € 135,000,000.0
Interest Rate Swap | Designated as Hedging Instrument          
Derivative Instruments, Gain (Loss) [Line Items]          
Foreign currency contract $ 125,000,000.0   $ 125,000,000.0