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Derivative Instruments - Narrative (Details)
€ in Millions, $ in Millions
3 Months Ended 6 Months Ended
Jul. 03, 2022
USD ($)
Jul. 04, 2021
USD ($)
Jul. 03, 2022
USD ($)
Jul. 04, 2021
USD ($)
Jul. 03, 2022
EUR (€)
Derivative Instruments, Gain (Loss) [Line Items]          
Liquidation of cross currency swap     $ 18.3 $ 0.0  
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 $ 25.6 $ 4.6 30.4 $ 4.8  
Cross currency swap          
Derivative Instruments, Gain (Loss) [Line Items]          
Liquidation of cross currency swap 18.3        
Forward contracts | Designated as hedging instrument          
Derivative Instruments, Gain (Loss) [Line Items]          
Expected reclassification of gain (loss) over the next 12 months 1.6   1.6    
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 182.8   182.8    
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 18.1   18.1    
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 5.7   5.7    
Currency swap maturing March 2023 | Designated as hedging instrument | Cash flow hedges          
Derivative Instruments, Gain (Loss) [Line Items]          
Derivative notional amount 125.0   125.0   € 118.9
Currency swap maturing October 2024 | Designated as hedging instrument | Cash flow hedges          
Derivative Instruments, Gain (Loss) [Line Items]          
Derivative notional amount 150.0   150.0   € 142.6
Interest rate swap | Designated as hedging instrument | Cash flow hedges          
Derivative Instruments, Gain (Loss) [Line Items]          
Derivative notional amount $ 125.0   $ 125.0