Derivative Instruments and Hedging Activities - Foreign Currency Forward Contracts (Details) - Foreign currency forward contracts - USD ($) $ in Millions	6 Months Ended
	Jul. 01, 2023	Dec. 31, 2022
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	$ 478.3	$ 593.6
Maximum remaining maturity of foreign currency derivatives	60 months
British Pound (GBP)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	$ 122.4	224.9
Swedish Krona (SEK)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	86.5	56.9
European Euro (EUR)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	66.7	61.7
Danish Krone (DKK)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	43.0	51.7
United States Dollar (USD)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	36.2	51.7
Polish Zloty (PLZ)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	30.9	25.2
Norwegian Krone (NOK)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	28.4	12.4
Chinese Yuan (CNH)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	25.8	34.4
Canadian Dollar (CAD)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	22.8	24.9
Mexican Peso (MXN)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	0.0	13.3
Hungarian Forint (HUF)
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	0.0	10.6
Other
Foreign Currency Fair Value Hedge Derivative [Line Items]
Notional amount of derivatives	15.6	25.9
Maximum individual amount	$ 10.0	$ 10.0