Derivative Instruments and Hedging Activities - Balance Sheet Location (Details) - USD ($) $ in Millions	Jul. 01, 2023	Dec. 31, 2022
Designated as Hedging Instrument
Derivatives, Fair Value [Line Items]
Asset Derivatives	$ 55.6	$ 52.3
Liability derivative	138.0	100.3
Designated as Hedging Instrument | Prepaid expenses and other current assets | Foreign currency forward contracts
Derivatives, Fair Value [Line Items]
Asset Derivatives	1.4	1.1
Designated as Hedging Instrument | Prepaid expenses and other current assets | Interest rate swap agreements
Derivatives, Fair Value [Line Items]
Asset Derivatives	0.0	3.0
Designated as Hedging Instrument | Other non-current assets | Foreign currency forward contracts
Derivatives, Fair Value [Line Items]
Asset Derivatives	0.4	0.7
Designated as Hedging Instrument | Other non-current assets | Interest rate swap agreements
Derivatives, Fair Value [Line Items]
Asset Derivatives	53.8	47.5
Designated as Hedging Instrument | Other accrued liabilities | Foreign currency forward contracts
Derivatives, Fair Value [Line Items]
Liability derivative	1.7	4.2
Designated as Hedging Instrument | Other accrued liabilities | Cross-currency swap
Derivatives, Fair Value [Line Items]
Liability derivative	136.3	96.1
Not Designated as Hedging Instrument
Derivatives, Fair Value [Line Items]
Asset Derivatives	1.3	2.4
Not Designated as Hedging Instrument | Prepaid expenses and other current assets | Foreign currency forward contracts
Derivatives, Fair Value [Line Items]
Asset Derivatives	1.3	2.4
Not Designated as Hedging Instrument | Other accrued liabilities | Foreign currency forward contracts
Derivatives, Fair Value [Line Items]
Liability derivative	$ 1.5	$ 1.0