Financial Instruments and Derivative Instruments - Fair Value on a Recurring Basis (Details) - Fair value measured on a recurring basis - USD ($) $ in Millions	Sep. 26, 2021	Dec. 31, 2020
Assets
Plan assets for deferred compensation	$ 2.5	$ 2.5
Total assets	2.9	2.5
Liabilities
Plan liabilities for deferred compensation	2.5	2.5
Contingent Consideration	3.7	3.2
Total liabilities	7.0	6.4
Interest Rate Swaps
Assets
Derivative assets	0.3
Liabilities
Derivative liabilities	0.8	0.6
Forward exchange contracts
Assets
Derivative assets	0.1
Liabilities
Derivative liabilities		0.1
Quoted Prices in Active Markets for Identical Assets (Level 1)
Assets
Plan assets for deferred compensation	2.5	2.5
Total assets	2.5	2.5
Liabilities
Plan liabilities for deferred compensation	2.5	2.5
Total liabilities	2.5	2.5
Significant Other Observable Inputs (Level 2)
Assets
Total assets	0.4
Liabilities
Total liabilities	0.8	0.7
Significant Other Observable Inputs (Level 2) | Interest Rate Swaps
Assets
Derivative assets	0.3
Liabilities
Derivative liabilities	0.8	0.6
Significant Other Observable Inputs (Level 2) | Forward exchange contracts
Assets
Derivative assets	0.1
Liabilities
Derivative liabilities		0.1
Significant Unobservable Inputs (Level 3)
Liabilities
Contingent Consideration	3.7	3.2
Total liabilities	$ 3.7	$ 3.2