Restructuring and Other Charges, Net - Expected, incurred and remaining pre-tax restructuring costs (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jun. 28, 2020	Jun. 30, 2019	Jun. 28, 2020	Jun. 30, 2019
Summary of total expected, incurred and remaining pre-tax costs
Costs incurred	$ 5.3	$ 1.3	$ 5.3	$ 2.7
Other Actions
Summary of total expected, incurred and remaining pre-tax costs
Costs incurred	5.3	$ 1.3	5.3	$ 2.7
2020 Other Actions
Summary of total expected, incurred and remaining pre-tax costs
Costs incurred			5.6
Total expected restructuring costs	9.5		9.5
2020 Other Actions | Severance
Summary of total expected, incurred and remaining pre-tax costs
Costs incurred			5.3
Total expected restructuring costs	6.3		6.3
2020 Other Actions | Asset write-downs
Summary of total expected, incurred and remaining pre-tax costs
Costs incurred			0.3
Total expected restructuring costs	1.7		1.7
2020 Other Actions | Facility exit and other
Summary of total expected, incurred and remaining pre-tax costs
Total expected restructuring costs	$ 1.5		$ 1.5