Derivative Instruments and Hedging Activities - Classification of Gain (Loss) of Cash Flow And Fair Value Hedging Relationships (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jul. 03, 2021	Jun. 27, 2020	Jul. 03, 2021	Jun. 27, 2020
Derivative Instruments, Gain (Loss) [Line Items]
Net sales	$ 981.1	$ 948.8	$ 1,991.1	$ 2,032.0
Cost of sales	632.1	601.6	1,273.7	1,291.1
Interest expense, net	31.6	32.2	63.6	61.1
Other (income) expense, net	(0.4)	17.1	1.9	18.8
Net Sales
Foreign currency forward contracts
Amount of gain or (loss) reclassified from AOCI into earnings	(1.0)	0.3	(1.9)	(0.1)
Amount excluded from effectiveness testing recognized using a systematic and rational amortization approach	0.0	0.0	0.0	0.0
Cost of sales
Foreign currency forward contracts
Amount of gain or (loss) reclassified from AOCI into earnings	0.9	0.1	2.8	(1.0)
Amount excluded from effectiveness testing recognized using a systematic and rational amortization approach	0.4	0.3	0.5	0.7
Interest expense, net
Foreign currency forward contracts
Amount of gain or (loss) reclassified from AOCI into earnings	0.0	0.0	0.0	0.0
Amount excluded from effectiveness testing recognized using a systematic and rational amortization approach	0.0	0.0	0.0	0.0
Other (income) expense, net
Foreign currency forward contracts
Amount of gain or (loss) reclassified from AOCI into earnings	0.0	0.0	0.0	0.0
Amount excluded from effectiveness testing recognized using a systematic and rational amortization approach	0.4	0.0	0.4	0.0
Interest Rate Swap | Net Sales
Interest rate swap agreements
Amount of gain or (loss) reclassified from AOCI into earnings	0.0	0.0	0.0	0.0
Interest Rate Swap | Cost of sales
Interest rate swap agreements
Amount of gain or (loss) reclassified from AOCI into earnings	0.0	0.0	0.0	0.0
Interest Rate Swap | Interest expense, net
Interest rate swap agreements
Amount of gain or (loss) reclassified from AOCI into earnings	(0.4)	(0.5)	(0.9)	(0.9)
Interest Rate Swap | Other (income) expense, net
Interest rate swap agreements
Amount of gain or (loss) reclassified from AOCI into earnings	$ 0.0	$ 0.0	$ 0.0	$ 0.0