Derivative Instruments and Hedging Activities - Classification of Gain (Loss) of Cash Flow And Fair Value Hedging Relationships (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jul. 01, 2023	Jul. 02, 2022	Jul. 01, 2023	Jul. 02, 2022
Derivative Instruments, Gain (Loss) [Line Items]
Net sales	$ 1,193,100	$ 1,121,700	$ 2,374,800	$ 2,196,200
Cost of sales	765,100	749,600	1,532,900	1,486,300
Interest expense, net	44,000	38,300	87,600	74,100
Other (income) expense, net	(9,700)	53,800	(9,000)	52,700
Net Sales
Foreign currency forward contracts
Amount of gain or (loss) reclassified from AOCI into earnings	(200)	300	200	500
Amount excluded from effectiveness testing recognized using a systematic and rational amortization approach	200	(100)	200	(200)
Cost of Sales
Foreign currency forward contracts
Amount of gain or (loss) reclassified from AOCI into earnings	400	(900)	100	(1,300)
Amount excluded from effectiveness testing recognized using a systematic and rational amortization approach	100	(100)	100	0
Interest Expense, net
Foreign currency forward contracts
Amount of gain or (loss) reclassified from AOCI into earnings	0	0	0
Amount excluded from effectiveness testing recognized using a systematic and rational amortization approach	0	0	0
Other (income) expense, net
Foreign currency forward contracts
Amount of gain or (loss) reclassified from AOCI into earnings	0	0	0
Amount excluded from effectiveness testing recognized using a systematic and rational amortization approach	(600)	(800)	(500)	(700)
Interest rate swap agreements | Net Sales
Interest rate swap agreements
Amount of gain or (loss) reclassified from AOCI into earnings	0	0	0
Interest rate swap agreements | Cost of Sales
Interest rate swap agreements
Amount of gain or (loss) reclassified from AOCI into earnings	0	0	0
Interest rate swap agreements | Interest Expense, net
Interest rate swap agreements
Amount of gain or (loss) reclassified from AOCI into earnings	5,500	(1,600)	9,800	(2,000)
Interest rate swap agreements | Other Nonoperating Income
Interest rate swap agreements
Amount of gain or (loss) reclassified from AOCI into earnings	$ 0	$ 0	$ 0	$ 0