Derivative Instruments and Hedging Activities - Classification of Gain (Loss) of Cash Flow And Fair Value Hedging Relationships (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Oct. 02, 2021	Sep. 26, 2020	Oct. 02, 2021	Sep. 26, 2020
Derivative Instruments, Gain (Loss) [Line Items]
Net sales	$ 1,042.7	$ 1,003.0	$ 3,033.8	$ 3,035.0
Cost of sales	706.3	633.3	1,980.0	1,924.5
Interest expense, net	30.9	33.3	94.5	94.3
Other (income) expense, net	18.5	(1.0)	20.4	17.9
Net Sales
Foreign currency forward contracts
Amount of gain or (loss) reclassified from AOCI into earnings	(0.4)	(0.1)	(2.3)	(0.1)
Amount excluded from effectiveness testing recognized using a systematic and rational amortization approach	0.0	0.0	0.0	0.1
Cost of sales
Foreign currency forward contracts
Amount of gain or (loss) reclassified from AOCI into earnings	(0.5)	1.3	1.4	0.3
Amount excluded from effectiveness testing recognized using a systematic and rational amortization approach	0.0	0.2	0.4	0.8
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	0.2	0.0	0.6	0.0
Treasury Locks | Net Sales
Treasury locks
Amount of gain or (loss) reclassified from AOCI into earnings			0.0	0.0
Treasury Locks | Cost of sales
Treasury locks
Amount of gain or (loss) reclassified from AOCI into earnings			0.0	0.0
Treasury Locks | Interest expense, net
Treasury locks
Amount of gain or (loss) reclassified from AOCI into earnings			(0.1)	(0.1)
Treasury Locks | Other (income) expense, net
Treasury locks
Amount of gain or (loss) reclassified from AOCI into earnings		0.0	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)	(0.4)	(1.3)	(1.3)
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