Accumulated Other Comprehensive Loss (Details) - USD ($) $ in Thousands	3 Months Ended				6 Months Ended
	Jun. 28, 2020	Mar. 29, 2020	Jun. 30, 2019	Mar. 31, 2019	Jun. 28, 2020	Jun. 30, 2019
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Balance, beginning of period	$ 1,691,983	$ 1,803,999	$ 1,797,611	$ 1,773,949	$ 1,803,999	$ 1,773,949
Total other comprehensive loss, net of tax	27,092	(42,341)	7,090	7,633	(15,249)	14,723
Balance, end of period	1,623,705	1,691,983	1,910,641	1,797,611	1,623,705	1,910,641
Accumulated Other Comprehensive Loss
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Balance, beginning of period	(579,290)	(536,949)	(622,051)	(629,684)	(536,949)	(629,684)
Other comprehensive income, before reclassifications	52,385		2,361		(21,608)	4,144
Income tax benefit (expense)	(7,299)		2,108		2,335	1,519
Net other comprehensive income (loss) before reclassifications	45,086		4,469		(19,273)	5,663
Total reclassifications before tax	(22,964)		3,411		5,545	11,815
Income tax benefit (expense)	4,970		(790)		(1,521)	(2,755)
Net reclassifications	(17,994)		2,621		4,024	9,060
Total other comprehensive loss, net of tax	27,092	(42,341)	7,090	7,633	(15,249)	14,723
Balance, end of period	(552,198)	(579,290)	(614,961)	(622,051)	(552,198)	(614,961)
Foreign currency translation adjustments
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Balance, beginning of period	(75,268)	(40,813)	(49,277)	(49,608)	(40,813)	(49,608)
Other comprehensive income, before reclassifications	22,056		11,152		(13,765)	11,758
Income tax benefit (expense)	(613)		118		753	(157)
Net other comprehensive income (loss) before reclassifications	21,443		11,270		(13,012)	11,601
Total reclassifications before tax	0		0
Income tax benefit (expense)	0		0		0
Net reclassifications	0		0
Total other comprehensive loss, net of tax	21,443		11,270		(13,012)	11,601
Balance, end of period	(53,825)	(75,268)	(38,007)	(49,277)	(53,825)	(38,007)
Derivative financial instruments
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Balance, beginning of period	(34,431)	(14,586)	1,344	1,785	(14,586)	1,785
Other comprehensive income, before reclassifications	30,329		(8,791)		(7,843)	(7,614)
Income tax benefit (expense)	(6,686)		1,990		1,582	1,676
Net other comprehensive income (loss) before reclassifications	23,643		(6,801)		(6,261)	(5,938)
Total reclassifications before tax	(38,592)		(6,708)		(25,711)	(8,423)
Income tax benefit (expense)	8,640		1,586		5,818	1,997
Net reclassifications	(29,952)		(5,122)		(19,893)	(6,426)
Total other comprehensive loss, net of tax	(6,309)		(11,923)		(26,154)	(12,364)
Balance, end of period	(40,740)	(34,431)	(10,579)	1,344	(40,740)	(10,579)
Pension and postretirement benefit plans
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Balance, beginning of period	(469,591)	(481,550)	(574,118)	(581,861)	(481,550)	(581,861)
Other comprehensive income, before reclassifications	0		0		0	0
Income tax benefit (expense)	0		0		0	0
Net other comprehensive income (loss) before reclassifications	0		0			0
Total reclassifications before tax	15,628		10,119		31,256	20,238
Income tax benefit (expense)	(3,670)		(2,376)		(7,339)	(4,752)
Net reclassifications	11,958		7,743		23,917	15,486
Total other comprehensive loss, net of tax	11,958		7,743		23,917	15,486
Balance, end of period	(457,633)	$ (469,591)	(566,375)	$ (574,118)	(457,633)	(566,375)
Pension and postretirement benefit plans - Prior service credits
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Total reclassifications before tax	(867)		(1,078)		(1,734)	(2,156)
Pension and postretirement benefit plans - Actuarial losses
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Total reclassifications before tax	$ 16,495		$ 11,197		$ 32,990	$ 22,394