Revenue Recognition - Contract Assets and Liabilities (Details) - USD ($) $ in Millions	6 Months Ended
	Jun. 27, 2021	Dec. 27, 2020	Jun. 28, 2020
Revenue from Contract with Customer [Abstract]
Contract assets - current	$ 257.9	$ 284.4	$ 252.9
Contract assets - long term	72.6	77.0	108.5
Total	330.5	361.4	361.4
Contract liabilities - current	174.7	161.0	141.7
Contract liabilities - long term	21.3	18.2	23.5
Total	196.0	$ 179.2	$ 165.2
Contract assets transferred	29.0
Contract liabilities transferred	$ 4.0