Leases - Lease Cost (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 26, 2021	Sep. 27, 2020	Sep. 26, 2021	Sep. 27, 2020
Leases [Abstract]
Operating cash flows from operating leases	$ 13.7	$ 13.2	$ 39.9	$ 38.8
Right-of-use assets obtained in exchange for lease obligations, operating leases	$ 10.4	$ 2.1	$ 21.8	$ 102.5
Weighted average remaining lease term, operating leases	5 years 7 months 6 days	6 years 2 months 12 days	5 years 7 months 6 days	6 years 2 months 12 days
Weighted average discount rate, operating lease	3.10%	3.10%	3.10%	3.10%