Restructuring Charges - Schedule of Restructuring and Related Costs (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Oct. 01, 2022	Sep. 30, 2023	Oct. 01, 2022
Restructuring Reserve [Roll Forward]
Beginning balance	$ 13.4	$ 13.5	$ 19.8	$ 6.9
Additional charges	15.5	19.1	25.7	32.2
Payments	(9.0)	(12.9)	(26.3)	(19.0)
Non-cash adjustments	(11.7)	(0.4)	(11.0)	(0.8)
Ending balance	8.2	19.3	8.2	19.3
Supply Chain Reinvention
Restructuring Reserve [Roll Forward]
Beginning balance	0.0	7.6	2.2	0.0
Additional charges	13.5	11.4	17.4	22.3
Payments	(2.3)	(10.0)	(8.4)	(13.3)
Non-cash adjustments	(11.2)	0.0	(11.2)	0.0
Ending balance	0.0	9.0	0.0	9.0
HRA Pharma Integration
Restructuring Reserve [Roll Forward]
Beginning balance	9.6		13.3
Additional charges	0.5		2.7
Payments	(4.0)		(10.1)
Non-cash adjustments	(0.1)		0.1
Ending balance	6.0		6.0
Other Initiatives
Restructuring Reserve [Roll Forward]
Beginning balance	3.8	5.9	4.3	6.9
Additional charges	1.5	7.7	5.6	9.9
Payments	(2.8)	(2.9)	(7.8)	(5.7)
Non-cash adjustments	(0.4)	(0.4)	0.1	(0.8)
Ending balance	$ 2.2	$ 10.3	$ 2.2	$ 10.3