Comprehensive Income (Loss) and Equity - Summary of Changes, Net of Tax, in Accumulated Other Comprehensive Loss (Details) - USD ($) $ in Millions	3 Months Ended			6 Months Ended
	Jul. 03, 2021		Jul. 04, 2020	Jul. 03, 2021		Jul. 04, 2020
Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Balance at beginning of period	$ 4,748.7		$ 4,183.3	$ 4,614.9		$ 4,501.1
Balance at end of period	4,892.1	[1]	3,983.2	4,892.1	[1]	3,983.2
Defined benefit plans:
Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Balance at beginning of period	(275.6)		(208.7)	(276.9)		(217.6)
Reclassification adjustments	1.8		0.8	4.0		2.1
Other comprehensive income (loss) recognized during the period	(2.5)		(3.8)	(3.4)		3.8
Balance at end of period	(276.3)		(211.7)	(276.3)		(211.7)
Reclassification adjustments, tax expense (benefit)	0.3		0.4	0.7		0.7
Other comprehensive income (loss) recognized during the period, tax expense (benefit)	0.0		0.0	0.0		0.0
Derivative instruments and hedging:
Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Balance at beginning of period	9.6		(111.3)	12.6		9.8
Reclassification adjustments	(8.1)		11.0	(13.4)		5.3
Other comprehensive income (loss) recognized during the period	18.7		49.9	21.0		(65.5)
Balance at end of period	20.2		(50.4)	20.2		(50.4)
Reclassification adjustments, tax expense (benefit)	(1.9)		3.1	(3.3)		1.7
Other comprehensive income (loss) recognized during the period, tax expense (benefit)	4.5		12.0	5.2		(15.9)
Foreign currency translation:
Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Balance at beginning of period	(524.4)		(729.3)	(440.8)		(564.9)
Other comprehensive income (loss) recognized during the period	52.7		68.4	(30.9)		(96.0)
Balance at end of period	(471.7)		(660.9)	(471.7)		(660.9)
Other comprehensive income (loss) recognized during the period, tax expense (benefit)	(0.6)		(2.6)	1.5		2.2
Accumulated Other Comprehensive Loss, Net of Tax
Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Balance at beginning of period	(790.4)		(1,049.3)	(705.1)		(772.7)
Balance at end of period	$ (727.8)		$ (923.0)	$ (727.8)		$ (923.0)

[1] Unaudited.