Accumulated Other Comprehensive Loss (Details) - USD ($) $ in Thousands	3 Months Ended						9 Months Ended
	Sep. 27, 2020	Jun. 28, 2020	Mar. 29, 2020	Sep. 29, 2019	Jun. 30, 2019	Mar. 31, 2019	Sep. 27, 2020	Sep. 29, 2019
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Balance, beginning of period	$ 1,623,705	$ 1,691,983	$ 1,803,999	$ 1,910,641	$ 1,797,611	$ 1,773,949	$ 1,803,999	$ 1,773,949
Total other comprehensive loss, net of tax	22,595	27,092	(42,341)	(1,293)	7,090	7,633	7,346	13,430
Balance, end of period	1,769,898	1,623,705	1,691,983	1,836,219	1,910,641	1,797,611	1,769,898	1,836,219
Accumulated Other Comprehensive Loss
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Balance, beginning of period	(552,198)	(579,290)	(536,949)	(614,961)	(622,051)	(629,684)	(536,949)	(629,684)
Other comprehensive income, before reclassifications	69,063			(3,039)			47,455	1,105
Income tax benefit (expense)	(12,893)			(2,793)			(10,559)	(1,274)
Net other comprehensive income (loss) before reclassifications	56,170			(5,832)			36,896	(169)
Total reclassifications before tax	(42,957)			5,908			(37,411)	17,723
Income tax benefit (expense)	9,382			(1,369)			7,861	(4,124)
Net reclassifications	(33,575)			4,539			(29,550)	13,599
Total other comprehensive loss, net of tax	22,595	27,092	(42,341)	(1,293)	7,090	7,633	7,346	13,430
Balance, end of period	(529,603)	(552,198)	(579,290)	(616,254)	(614,961)	(622,051)	(529,603)	(616,254)
Foreign currency translation adjustments
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Balance, beginning of period	(53,825)		(40,813)	(38,007)		(49,608)	(40,813)	(49,608)
Other comprehensive income, before reclassifications	13,331			(15,451)			(434)	(3,693)
Income tax benefit (expense)	(594)			130			159	(27)
Net other comprehensive income (loss) before reclassifications	12,737			(15,321)			(275)	(3,720)
Total reclassifications before tax	0			0
Income tax benefit (expense)	0			0			0
Net reclassifications	0			0
Total other comprehensive loss, net of tax	12,737			(15,321)			(275)	(3,720)
Balance, end of period	(41,088)	(53,825)		(53,328)	(38,007)		(41,088)	(53,328)
Derivative financial instruments
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Balance, beginning of period	(40,740)		(14,586)	(10,579)		1,785	(14,586)	1,785
Other comprehensive income, before reclassifications	55,732			12,412			47,889	4,798
Income tax benefit (expense)	(12,299)			(2,923)			(10,718)	(1,247)
Net other comprehensive income (loss) before reclassifications	43,433			9,489			37,171	3,551
Total reclassifications before tax	(58,585)			(4,211)			(84,295)	(12,634)
Income tax benefit (expense)	13,051			1,006			18,869	3,003
Net reclassifications	(45,534)			(3,205)			(65,426)	(9,631)
Total other comprehensive loss, net of tax	(2,101)			6,284			(28,255)	(6,080)
Balance, end of period	(42,841)	(40,740)		(4,295)	(10,579)		(42,841)	(4,295)
Pension and postretirement benefit plans
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Balance, beginning of period	(457,633)		$ (481,550)	(566,375)		$ (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			46,884	30,357
Income tax benefit (expense)	(3,669)			(2,375)			(11,008)	(7,127)
Net reclassifications	11,959			7,744			35,876	23,230
Total other comprehensive loss, net of tax	11,959			7,744			35,876	23,230
Balance, end of period	(445,674)	$ (457,633)		(558,631)	$ (566,375)		(445,674)	(558,631)
Pension and postretirement benefit plans - Prior service credits
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Total reclassifications before tax	(867)			(1,078)			(2,601)	(3,234)
Pension and postretirement benefit plans - Actuarial losses
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Total reclassifications before tax	$ 16,495			$ 11,197			$ 49,485	$ 33,591