Leases - Right-of-Use Assets and Lease Obligations (Details) - USD ($) $ in Millions	Oct. 02, 2021	Dec. 31, 2020
Right-of-use assets under operating leases:
Other long-term assets	$ 614.3	$ 540.3
Lease obligations under operating leases:
Accrued liabilities	127.4	116.3
Other long-term liabilities	508.4	438.9
Lease obligations under operating leases	$ 635.8	$ 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