Derivative Instruments and Hedging Activities - Effect of Cash Flow Hedges Included in AOCI (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jul. 01, 2023	Jul. 02, 2022	Jul. 01, 2023	Jul. 02, 2022
Derivative Instruments and Hedging Activities Disclosures [Line Items]
Amount of Gain/(Loss) Recorded in OCI, Cash flow hedges	$ 23.1	$ (3.9)	$ (7.0)	$ (11.1)
Amount(2)	5.7	(2.2)	10.1	(2.8)
Gain (loss) from components excluded from assessment of cash flow hedge effectiveness, net, total	(0.3)	(1.0)	(0.2)	(0.9)
Foreign currency cash flow hedge loss to be reclassified during next 12 months	1.8		1.8
Interest Expense, net
Derivative Instruments and Hedging Activities Disclosures [Line Items]
Amount of gain or (loss) reclassified from AOCI into earnings , Foreign currency forward contracts	0.0	0.0	0.0
Gain (loss) recognized in earnings on derivatives related to amounts excluded from effectiveness testing, Interest rate swap agreements	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
Net Sales
Derivative Instruments and Hedging Activities Disclosures [Line Items]
Amount of gain or (loss) reclassified from AOCI into earnings , Foreign currency forward contracts	(0.2)	0.3	0.2	0.5
Amount excluded from effectiveness testing recognized using a systematic and rational amortization approach	0.2	(0.1)	0.2	(0.2)
Cost of Sales
Derivative Instruments and Hedging Activities Disclosures [Line Items]
Amount of gain or (loss) reclassified from AOCI into earnings , Foreign currency forward contracts	0.4	(0.9)	0.1	(1.3)
Amount excluded from effectiveness testing recognized using a systematic and rational amortization approach	0.1	(0.1)	0.1	0.0
Other (income) expense, net
Derivative Instruments and Hedging Activities Disclosures [Line Items]
Amount of gain or (loss) reclassified from AOCI into earnings , Foreign currency forward contracts	0.0	0.0	0.0
Amount excluded from effectiveness testing recognized using a systematic and rational amortization approach	(0.6)	(0.8)	(0.5)	(0.7)
Interest rate swap agreements | Interest Expense, net
Derivative Instruments and Hedging Activities Disclosures [Line Items]
Amount of Gain/(Loss) Recorded in OCI, Cash flow hedges	28.9	(6.2)	3.3	(6.2)
Amount of gain or (loss) reclassified from AOCI into earnings, Interest rate swap agreements	5.5	(1.6)	9.8	(2.0)
Interest rate swap agreements | Net Sales
Derivative Instruments and Hedging Activities Disclosures [Line Items]
Amount of gain or (loss) reclassified from AOCI into earnings, Interest rate swap agreements	0.0	0.0	0.0
Interest rate swap agreements | Cost of Sales
Derivative Instruments and Hedging Activities Disclosures [Line Items]
Amount of gain or (loss) reclassified from AOCI into earnings, Interest rate swap agreements	0.0	0.0	0.0
Foreign currency forward contracts
Derivative Instruments and Hedging Activities Disclosures [Line Items]
Amount of Gain/(Loss) Recorded in OCI, Cash flow hedges	(5.8)	2.3	(10.3)	(4.9)
Cross-currency swap
Derivative Instruments and Hedging Activities Disclosures [Line Items]
Amount of Gain/(Loss) Recorded in OCI, Net investment hedges	(25.0)	38.7	(40.2)	34.1
Cross-currency swap | Interest Expense, net
Derivative Instruments and Hedging Activities Disclosures [Line Items]
Amount excluded from effectiveness testing recognized using a systematic and rational amortization approach	$ 6.4	$ 3.6	$ 12.9	$ 4.2