Financial Instruments and Derivative Instruments - Fair Value Measured on Recurring Basis Using Significant Unobservable Inputs (Level 3) (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 28, 2021	Dec. 31, 2020	Mar. 29, 2020
Significant Unobservable Inputs (Level 3)
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation, Calculation [Roll Forward]
Balance at the ending of the period	$ 3.1
Significant Unobservable Inputs (Level 3) | Minimum
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation, Calculation [Roll Forward]
Liability recorded at acquisition date fair value	0.0
Significant Unobservable Inputs (Level 3) | Maximum
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation, Calculation [Roll Forward]
Liability recorded at acquisition date fair value	4.4
Fair value measured on a recurring basis
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation, Calculation [Roll Forward]
Liability recorded at acquisition date fair value	3.1	$ 3.2
Fair value measured on a recurring basis | Significant Unobservable Inputs (Level 3)
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation, Calculation [Roll Forward]
Balance at the beginning of the period	3.2
Comprehensive income	(0.1)
Balance at the ending of the period	3.1
Liability recorded at acquisition date fair value	$ 3.1	$ 3.2
AVG | Significant Unobservable Inputs (Level 3)
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation, Calculation [Roll Forward]
Liability recorded at acquisition date fair value			$ 2.8