Comprehensive Income (Loss) and Equity - Summary of Changes, Net of Tax, in Accumulated Other Comprehensive Loss (Details) - USD ($) $ in Millions	3 Months Ended
	Apr. 03, 2021		Apr. 04, 2020
Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Balance at beginning of period	$ 4,614.9		$ 4,501.1
Balance at end of period	4,748.7	[1]	4,183.3
Defined benefit plans:
Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Balance at beginning of period	(276.9)		(217.6)
Reclassification adjustments	2.2		1.3
Other comprehensive income (loss) recognized during the period	(0.9)		7.6
Balance at end of period	(275.6)		(208.7)
Reclassification adjustments, tax expense (benefit)	0.4		0.3
Other comprehensive income (loss) recognized during the period, tax expense (benefit)	0.0		0.0
Derivative instruments and hedging:
Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Balance at beginning of period	12.6		9.8
Reclassification adjustments	(5.3)		(5.7)
Other comprehensive income (loss) recognized during the period	2.3		(115.4)
Balance at end of period	9.6		(111.3)
Reclassification adjustments, tax expense (benefit)	(1.4)		(1.4)
Other comprehensive income (loss) recognized during the period, tax expense (benefit)	0.7		(27.9)
Foreign currency translation:
Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Balance at beginning of period	(440.8)		(564.9)
Other comprehensive income (loss) recognized during the period	(83.6)		(164.4)
Balance at end of period	(524.4)		(729.3)
Other comprehensive income (loss) recognized during the period, tax expense (benefit)	2.1		4.8
Accumulated Other Comprehensive Loss, Net of Tax
Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Balance at beginning of period	(705.1)		(772.7)
Balance at end of period	$ (790.4)		$ (1,049.3)

[1] Unaudited.