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Derivative Instruments - Narrative (Details)
€ in Millions, $ in Millions
3 Months Ended
Apr. 03, 2022
USD ($)
Apr. 04, 2021
USD ($)
Apr. 03, 2022
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 $ 4.8 $ 0.2  
Forward contracts | Designated as hedging instrument      
Derivative Instruments, Gain (Loss) [Line Items]      
Expected reclassification of gain (loss) over the next 12 months 1.8    
Forward contracts | Designated as hedging instrument | Cash flow hedges | Sell US Dollars and buy Canadian Dollars      
Derivative Instruments, Gain (Loss) [Line Items]      
Derivative notional amount 166.9    
Forward contracts | Designated as hedging instrument | Cash flow hedges | Sell US Dollars and buy Great Britain Pounds      
Derivative Instruments, Gain (Loss) [Line Items]      
Derivative notional amount 18.7    
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 4.4    
Currency swap maturing March 2023 | Designated as hedging instrument | Cash flow hedges      
Derivative Instruments, Gain (Loss) [Line Items]      
Derivative notional amount 125.0   € 113.0
Currency swap maturing October 2024 | Designated as hedging instrument | Cash flow hedges      
Derivative Instruments, Gain (Loss) [Line Items]      
Derivative notional amount 150.0   € 135.0
Interest rate swap | Designated as hedging instrument | Cash flow hedges      
Derivative Instruments, Gain (Loss) [Line Items]      
Derivative notional amount $ 125.0