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
	Sep. 30, 2023	Oct. 01, 2022	Sep. 30, 2023	Oct. 01, 2022
Derivative Instruments, Gain (Loss) [Line Items]
Net sales	$ 1,123.8	$ 1,100.2	$ 3,498.7	$ 3,296.3
Cost of sales	712.6	737.3	2,245.6	2,223.5
Interest expense, net	43.5	41.0	131.1	115.1
Other (income) expense, net	(0.6)	(4.0)	(9.6)	48.7
Net Sales
Foreign currency forward contracts
Amount of gain or (loss) reclassified from AOCI into earnings	(0.2)	0.4	0.0	0.9
Amount excluded from effectiveness testing recognized using a systematic and rational amortization approach	0.2	(0.2)	0.4	(0.3)
Cost of Sales
Foreign currency forward contracts
Amount of gain or (loss) reclassified from AOCI into earnings	0.2	(1.7)	0.4	(2.9)
Amount excluded from effectiveness testing recognized using a systematic and rational amortization approach	0.1	(0.1)	0.1	(0.1)
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	0.0	(1.0)	(0.5)	(1.7)
Treasury locks | Net Sales
Interest rate swap agreements
Amount of gain or (loss) reclassified from AOCI into earnings				0.0
Treasury locks | Cost of Sales
Interest rate swap agreements
Amount of gain or (loss) reclassified from AOCI into earnings				0.0
Treasury locks | Interest Expense, net
Interest rate swap agreements
Amount of gain or (loss) reclassified from AOCI into earnings				(0.1)
Treasury locks | Other Nonoperating Income
Interest rate swap agreements
Amount of gain or (loss) reclassified from AOCI into earnings				0.0
Interest rate swap agreements | 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 agreements | 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 agreements | Interest Expense, net
Interest rate swap agreements
Amount of gain or (loss) reclassified from AOCI into earnings	6.4	0.5	16.2	(1.4)
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	$ 0.0	$ 0.0