Pension and Other Postretirement Benefit Plans - Components of Net Periodic Benefit (Credit) Costs (Details) - USD ($) $ in Millions	3 Months Ended
	Apr. 03, 2021	Apr. 04, 2020
Pension | U.S.
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]
Service cost	$ 0.0	$ 0.0
Interest cost	3.6	4.1
Expected return on plan assets	(5.9)	(5.3)
Amortization of actuarial loss (gain)	1.0	0.6
Settlement loss	0.4	0.3
Net periodic benefit cost	(0.9)	(0.3)
Pension | Foreign
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]
Service cost	1.3	1.2
Interest cost	2.6	3.1
Expected return on plan assets	(4.8)	(5.0)
Amortization of actuarial loss (gain)	1.5	1.1
Settlement loss	0.0	0.0
Net periodic benefit cost	0.6	0.4
Other postretirement | U.S.
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]
Interest cost	0.3	0.4
Amortization of actuarial loss (gain)	(0.3)	(0.4)
Net periodic benefit cost	0.0	0.0
Other postretirement | Foreign
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]
Interest cost	0.2	0.2
Amortization of actuarial loss (gain)	0.0	0.0
Net periodic benefit cost	$ 0.2	$ 0.2