Derivative Instruments and Hedging Activities - Foreign Currency Forward Contracts (Details) € in Millions, $ in Millions	3 Months Ended
	Apr. 03, 2021 EUR (€)	Apr. 03, 2021 USD ($)	Dec. 31, 2020 USD ($)
Cross-currency swap
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	€ 450.0	$ 498.0
Foreign currency forward contracts
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives		672.7	$ 867.7
Maximum remaining maturity of foreign currency derivatives	60 months
European Euro (EUR) | Foreign currency forward contracts
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives		270.7	312.6
Israeli Shekel (ILS) | Foreign currency forward contracts
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives		74.1	94.4
United States Dollar (USD) | Foreign currency forward contracts
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives		63.4	101.5
Chinese Yuan (CNY) | Foreign currency forward contracts
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives		50.4	49.1
British Pound (GBP) | Foreign currency forward contracts
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives		44.8	92.3
Danish Krone (DKK) | Foreign currency forward contracts
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives		44.0	65.2
Swedish Krona (SEK) | Foreign currency forward contracts
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives		30.1	41.2
Canadian Dollar (CAD) | Foreign currency forward contracts
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives		27.8	36.8
Polish Zloty (PLZ) | Foreign currency forward contracts
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives		18.3	21.8
Mexican Peso (MPX) | Foreign currency forward contracts
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives		14.8	15.6
Norwegian Krone (NOK) | Foreign currency forward contracts
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives		9.7	7.8
Australian Dollar (AUD) | Foreign currency forward contracts
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives		9.1	11.3
Romanian New Leu (RON) | Foreign currency forward contracts
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives		4.8	3.6
Switzerland Franc (CHF) | Foreign currency forward contracts
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives		4.6	8.2
Turkish Lira (TRY) | Foreign currency forward contracts
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives		3.7	4.0
Other | Foreign currency forward contracts
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives		$ 2.4	$ 2.3