Derivative Instruments - Effect of Derivative Instruments (Details) - Designated as Hedging Instrument - Cash Flow Hedging - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jun. 28, 2020	Jun. 30, 2019	Jun. 28, 2020	Jun. 30, 2019
Derivative Instruments, Gain (Loss) [Line Items]
Net gain (loss) recognized in AOCI	$ 0.2	$ 0.7	$ (0.4)	$ 5.0
Net foreign exchange gain (loss) recognized in other income and expense, net	0.0	(0.2)	0.0	(0.4)
Interest rate contracts
Derivative Instruments, Gain (Loss) [Line Items]
Net gain (loss) reclassified from AOCI	(0.6)	0.0	(4.6)	0.0
Revenue | Foreign Exchange Contract
Derivative Instruments, Gain (Loss) [Line Items]
Net gain (loss) reclassified from AOCI	(1.6)	(0.6)	(1.8)	(1.2)
Other Operating Income (Expense) | Foreign Exchange Contract
Derivative Instruments, Gain (Loss) [Line Items]
Net gain (loss) reclassified from AOCI	(4.7)	(1.2)	(3.0)	0.6
Interest Expense | Foreign Exchange Contract
Derivative Instruments, Gain (Loss) [Line Items]
Net gain (loss) reclassified from AOCI	1.0	0.0	2.5	0.0
Interest Expense | Interest rate contracts
Derivative Instruments, Gain (Loss) [Line Items]
Net gain (loss) reclassified from AOCI	$ (0.3)	$ 0.7	$ (0.2)	$ 1.5