Leases - Right-of-Use Assets and Lease Obligations (Details) - USD ($) $ in Millions	Apr. 03, 2021	Dec. 31, 2020
Right-of-use assets under operating leases:
Other long-term assets	$ 563.3	$ 540.3
Lease obligations under operating leases:
Accrued liabilities	124.7	116.3
Other long-term liabilities	452.7	438.9
Lease obligations under operating leases	$ 577.4	$ 555.2
Operating Lease, Right-of-Use Asset, Statement of Financial Position [Extensible List]	Other	Other
Operating Lease, Liability, Current, Statement of Financial Position [Extensible List]	Accrued liabilities	Accrued liabilities
Operating Lease, Liability, Noncurrent, Statement of Financial Position [Extensible List]	Other	Other