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Fair Value Measurements - Reconciliation of Level 3 Assets and Liabilities (Details) - Measured on a recurring basis - Level 3 - USD ($)
$ in Millions
3 Months Ended
Mar. 30, 2019
Mar. 31, 2018
Contingent consideration    
Contingent Consideration    
Beginning balance $ 15.3 $ 22.0
Changes in value 1.2 0.4
Foreign currency effect 0.0 0.1
Settlements and other adjustments (4.1) (4.4)
Ending balance 12.4 18.1
Royalty Pharma Contingent Milestone Payments    
Royalty Pharma Contingent Milestone Payments    
Beginning balance 323.2 134.5
Payments received (250.0) 0.0
Change in fair value 10.4 (9.6)
Ending balance $ 83.6 $ 124.9