Leases - Lease Cost (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jun. 27, 2021	Jun. 28, 2020	Jun. 27, 2021	Jun. 28, 2020
Leases [Abstract]
Operating cash flows from operating leases	$ 13.0	$ 14.0	$ 26.2	$ 25.6
Right-of-use assets obtained in exchange for lease obligations, operating leases	$ 4.1	$ 36.2	$ 11.5	$ 100.4
Weighted average remaining lease term, operating leases	5 years 9 months 18 days	6 years 4 months 24 days	5 years 9 months 18 days	6 years 4 months 24 days
Weighted average discount rate, operating lease	3.10%	3.10%	3.10%	3.10%