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Financial Instruments - Narrative (Details)
3 Months Ended
Apr. 03, 2021
USD ($)
segment
Apr. 04, 2020
USD ($)
Dec. 31, 2020
USD ($)
Derivative [Line Items]      
Accounts receivable, reserves $ 36,800,000   $ 35,300,000
Investments in equity securities without readily determinable fair values 16,400,000   11,200,000
Cumulative impairment 9,000,000.0   9,000,000.0
Interest expense 22,300,000 $ 24,400,000  
Derivative contracts classified within Level 3 of fair value hierarchy 0   0
Derivative contracts transfers in to Level 3 fair value hierarchy $ 0    
Number of reporting units assessed for goodwill impairment | segment 1    
Foreign currency contracts | Derivative instruments and hedging | Designated as hedging instrument      
Derivative [Line Items]      
Pretax gains (losses) related to derivative instruments and hedging activities in accumulated other comprehensive loss $ 10,900,000   $ 4,700,000
Net investment hedges | Interest rate swap contracts | Designated as hedging instrument      
Derivative [Line Items]      
Interest expense $ 1,600,000 $ 1,600,000