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Restructuring Charges (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 28, 2020
Mar. 30, 2019
Restructuring Charges [Abstract]    
Restructuring charges $ 0.0 $ 9.3
Restructuring Reserve [Roll Forward]    
Beginning balance 19.6 24.0
Additional charges 0.0 5.9
Payments (3.5) (9.0)
Non-cash adjustments (0.1) (0.4)
Ending balance $ 16.0 $ 20.5