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Indebtedness - Schedule of Borrowings Outstanding (Details) - USD ($)
$ in Millions
3 Months Ended
Apr. 03, 2021
Dec. 31, 2020
Debt Instrument [Line Items]    
Notes and Bonds $ 2,918.8 $ 2,924.9
Other financing 60.1 57.4
Unamortized premium (discount), net (1.5) (0.3)
Deferred financing fees (16.3) (17.1)
Total borrowings outstanding 3,561.1 3,564.9
Current indebtedness (35.8) (37.3)
Long-term debt, less current portion 3,525.3 3,527.6
2019 Term loan due August 15, 2022    
Debt Instrument [Line Items]    
Term loans $ 600.0 600.0
5.105% Senior note due July 28, 2023    
Debt Instrument [Line Items]    
Series [1] July 28, 2023(1)  
Interest rate, stated percentage 5.105%  
Notes and Bonds [1] $ 158.8 164.9
4.00% unsecured senior notes due November 15, 2023    
Debt Instrument [Line Items]    
Series November 15, 2023  
Interest rate, stated percentage 4.00%  
Notes and Bonds $ 215.6 215.6
3.9% senior note due December 15, 2024    
Debt Instrument [Line Items]    
Series December 15, 2024  
Interest rate, stated percentage 3.90%  
Notes and Bonds $ 700.0 700.0
4.375% senior note due March 15, 2026    
Debt Instrument [Line Items]    
Series March 15, 2026  
Interest rate, stated percentage 4.375%  
Notes and Bonds $ 700.0 700.0
3.150% Senior Notes due June 15, 2030    
Debt Instrument [Line Items]    
Series June 15, 2030  
Interest rate, stated percentage 3.15%  
Notes and Bonds $ 750.0 750.0
5.30% unsecured senior notes due November 15, 2043    
Debt Instrument [Line Items]    
Series November 15, 2043  
Interest rate, stated percentage 5.30%  
Notes and Bonds $ 90.5 90.5
4.9% senior notes due December 15, 2044    
Debt Instrument [Line Items]    
Series December 15, 2044  
Interest rate, stated percentage 4.90%  
Notes and Bonds $ 303.9 $ 303.9
[1] Debt denominated in euros subject to fluctuations in the euro-to-U.S. dollar exchange rate.