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Consolidated Condensed Balance Sheets (Parenthetical) - USD ($)
$ in Millions
3 Months Ended 12 Months Ended
Apr. 02, 2021
Dec. 31, 2020
Statement of Financial Position [Abstract]    
Accumulated depreciation $ 680.0 $ 674.5
Preferred stock, par value (in dollars per share) $ 0.01 $ 0.01
Preferred stock, shares authorized (in shares) 15,000,000.0 15,000,000.0
Preferred stock, dividend rate 5.00% 5.00%
Preferred stock, shares issued (in shares) 1,400,000 1,400,000
Preferred stock, shares outstanding (in shares) 1,400,000 1,400,000
Common stock, par value (in dollars per share) $ 0.01 $ 0.01
Common stock, shares authorized (in shares) 2,000,000,000.0 2,000,000,000.0
Common stock, shares issued (in shares) 339,700,000 339,000,000.0
Common stock, shares outstanding (in shares) 338,500,000 337,900,000