Pension Plans and Postretirement Benefits (Details) - Pension Plan - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jun. 28, 2020	Jun. 30, 2019	Jun. 28, 2020	Jun. 30, 2019
Components of net period pension benefit expense
Service cost — benefits earned during the period	$ 2.6	$ 2.3	$ 5.2	$ 4.7
Interest cost on benefit obligation	6.8	8.4	13.7	16.8
Expected return on plan assets	(14.3)	(16.6)	(28.6)	(33.1)
Amortization of prior service cost	(1.5)	(1.5)	(3.0)	(3.0)
Amortization of net actuarial loss	5.8	7.8	11.5	15.5
Curtailment/settlements	0.0	(0.1)	0.7	(0.4)
Pension non-service (income) expense	$ (3.2)	$ (2.0)	$ (5.7)	$ (4.2)