Accumulated Other Comprehensive Loss - Changes in AOCI by Component (Details) - USD ($) $ in Millions	3 Months Ended
	Apr. 04, 2021	Mar. 29, 2020
Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Beginning balance	$ 3,228.6	$ 2,714.7
Other comprehensive loss before reclassifications	10.5	(64.9)
Amounts reclassified from AOCI	(5.3)	1.2
Net other comprehensive income (loss)	5.2	(63.7)
Ending balance	3,336.3	2,753.0
Foreign Currency Translation
Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Beginning balance	(84.6)	(150.4)
Other comprehensive loss before reclassifications	1.0	(61.3)
Amounts reclassified from AOCI	0.0	0.0
Net other comprehensive income (loss)	1.0	(61.3)
Ending balance	(83.6)	(211.7)
Cash Flow Hedges and Other
Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Beginning balance	2.3	(2.3)
Other comprehensive loss before reclassifications	9.5	(3.6)
Amounts reclassified from AOCI	(9.6)	(2.3)
Net other comprehensive income (loss)	(0.1)	(5.9)
Ending balance	2.2	(8.2)
Pension and Postretirement Benefits
Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Beginning balance	(347.8)	(323.1)
Other comprehensive loss before reclassifications	0.0	0.0
Amounts reclassified from AOCI	4.3	3.5
Net other comprehensive income (loss)	4.3	3.5
Ending balance	(343.5)	(319.6)
Total
Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Beginning balance	(430.1)	(475.8)
Net other comprehensive income (loss)	5.2	(63.7)
Ending balance	$ (424.9)	$ (539.5)