Accumulated Other Comprehensive Loss (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 29, 2020	Mar. 31, 2019
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Balance, beginning of period	$ 1,803,999	$ 1,773,949
Total other comprehensive loss, net of tax	(42,341)	7,633
Balance, end of period	1,691,983	1,797,611
Accumulated Other Comprehensive Loss
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Balance, beginning of period	(536,949)	(629,684)
Other comprehensive loss, before reclassifications	(73,993)	1,783
Income tax benefit (expense)	9,633	(589)
Net other comprehensive income (loss) before reclassifications	(64,360)	1,194
Total reclassifications before tax	28,509	8,404
Income tax benefit (expense)	(6,490)	(1,965)
Net reclassifications	22,019	6,439
Total other comprehensive loss, net of tax	(42,341)	7,633
Balance, end of period	(579,290)	(622,051)
Foreign currency translation adjustments
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Balance, beginning of period	(40,813)	(49,608)
Other comprehensive loss, before reclassifications	(35,821)	606
Income tax benefit (expense)	1,366	(275)
Net other comprehensive income (loss) before reclassifications	(34,455)	331
Total reclassifications before tax	0	0
Income tax benefit (expense)	0	0
Net reclassifications	0	0
Total other comprehensive loss, net of tax	(34,455)	331
Balance, end of period	(75,268)	(49,277)
Derivative financial instruments
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Balance, beginning of period	(14,586)	1,785
Other comprehensive loss, before reclassifications	(38,172)	1,177
Income tax benefit (expense)	8,267	(314)
Net other comprehensive income (loss) before reclassifications	(29,905)	863
Total reclassifications before tax	12,881	(1,715)
Income tax benefit (expense)	(2,821)	411
Net reclassifications	10,060	(1,304)
Total other comprehensive loss, net of tax	(19,845)	(441)
Balance, end of period	(34,431)	1,344
Pension and postretirement benefit plans
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Balance, beginning of period	(481,550)	(581,861)
Other comprehensive loss, before reclassifications	0	0
Income tax benefit (expense)	0	0
Net other comprehensive income (loss) before reclassifications	0	0
Total reclassifications before tax	15,628	10,119
Income tax benefit (expense)	(3,669)	(2,376)
Net reclassifications	11,959	7,743
Total other comprehensive loss, net of tax	11,959	7,743
Balance, end of period	(469,591)	(574,118)
Pension and postretirement benefit plans - Prior service credits
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Total reclassifications before tax	(867)	(1,078)
Pension and postretirement benefit plans - Actuarial losses
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Total reclassifications before tax	$ 16,495	$ 11,197