Derivative Instruments and Hedging Activities - Foreign Currency Forward Contracts (Details) € in Millions, $ in Millions	3 Months Ended
	Mar. 28, 2020 USD ($)	Mar. 28, 2020 EUR (€)	Dec. 31, 2019 USD ($)
Cross currency swaps
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	$ 498.0	€ 450.0
Foreign currency forward contracts
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	$ 712.9		$ 1,257.2
Maximum remaining maturity of foreign currency derivatives	18 months
British Pound (GBP) | Foreign currency forward contracts
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	$ 288.3		712.7
European Euro (EUR) | Foreign currency forward contracts
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	150.5		157.6
British Pound (GBP) | Foreign currency forward contracts
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	79.7		86.9
United States Dollar (USD) | Foreign currency forward contracts
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	55.9		92.4
Danish Krone (DKK) | Foreign currency forward contracts
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	52.4		51.7
Canadian Dollar (CAD) | Foreign currency forward contracts
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	27.4		41.3
Chinese Yuan (CNY) | Foreign currency forward contracts
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	14.6		20.9
Swedish Krona (SEK) | Foreign currency forward contracts
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	14.0		42.0
Mexican Peso (MPX) | Foreign currency forward contracts
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	12.5		9.7
Polish Zloty (PLZ) | Foreign currency forward contracts
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	7.8		21.5
Switzerland Franc (CHF) | Foreign currency forward contracts
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	4.4		4.1
Romanian New Leu (RON) | Foreign currency forward contracts
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	0.4		2.3
Norwegian Krone (NOK) | Foreign currency forward contracts
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	0.3		6.6
Other | Foreign currency forward contracts
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	$ 4.7		$ 7.5