Derivative Instruments and Hedging Activities - Foreign Currency Forward Contracts (Details) € in Millions, $ in Millions	6 Months Ended
	Jul. 03, 2021 EUR (€)	Jul. 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		619.7	$ 867.7
Maximum remaining maturity of foreign currency derivatives	60 months
Foreign currency forward contracts | European Euro (EUR)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives		209.3	312.6
Foreign currency forward contracts | British Pound (GBP)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives		104.4	92.3
Foreign currency forward contracts | Israeli Shekel (ILS)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives		71.6	94.4
Foreign currency forward contracts | Danish Krone (DKK)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives		44.7	65.2
Foreign currency forward contracts | Swedish Krona (SEK)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives		42.2	41.2
Foreign currency forward contracts | Chinese Yuan (CNY)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives		41.5	49.1
Foreign currency forward contracts | United States Dollar (USD)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives		26.3	101.5
Foreign currency forward contracts | Canadian Dollar (CAD)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives		23.3	36.8
Foreign currency forward contracts | Polish Zloty (PLZ)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives		22.2	21.8
Foreign currency forward contracts | Norwegian Krone (NOK)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives		10.5	7.8
Foreign currency forward contracts | Romanian New Leu (RON)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives		5.7	3.6
Foreign currency forward contracts | Switzerland Franc (CHF)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives		5.1	8.2
Foreign currency forward contracts | Australian Dollar (AUD)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives		5.0	11.3
Foreign currency forward contracts | Turkish Lira (TRY)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives		4.3	4.0
Foreign currency forward contracts | Mexican Peso (MPX)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives		1.0	15.6
Foreign currency forward contracts | Other
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives		$ 2.6	$ 2.3