Pension and Other Postretirement Benefit Plans - Components of Net Periodic Benefit (Credit) Costs (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Oct. 02, 2021	Oct. 03, 2020	Oct. 02, 2021	Oct. 03, 2020
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]
Settlement loss		$ 10.2		$ 10.2
Pension | U.S.
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]
Service cost	$ 0.0	0.1	$ 0.0	0.1
Interest cost	3.7	4.1	10.9	12.3
Expected return on plan assets	(5.9)	(5.4)	(17.7)	(16.0)
Amortization of actuarial gain (loss)	1.0	0.6	2.9	1.7
Settlement loss	0.0	0.0	0.4	0.3
Net periodic benefit cost	(1.2)	(0.6)	(3.5)	(1.6)
Pension | Foreign
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]
Service cost	1.2	1.2	3.9	3.6
Interest cost	2.6	3.1	7.9	9.2
Expected return on plan assets	(4.9)	(4.9)	(14.7)	(14.8)
Amortization of actuarial gain (loss)	1.5	1.2	4.6	3.5
Settlement loss	0.0	10.2	0.0	10.2
Net periodic benefit cost	0.4	10.8	1.7	11.7
Other Postretirement | U.S.
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]
Interest cost	0.3	0.5	1.0	1.3
Amortization of actuarial gain (loss)	(0.2)	(0.4)	(0.8)	(1.2)
Amortization of prior service credit	0.0	0.0	(0.1)	(0.1)
Net periodic benefit cost	0.1	0.1	0.1	0.0
Other Postretirement | Foreign
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]
Interest cost	0.1	0.2	0.5	0.6
Amortization of actuarial gain (loss)	0.0	0.0	0.0	0.0
Amortization of prior service credit	0.0	0.0	0.0	0.0
Net periodic benefit cost	$ 0.1	$ 0.2	$ 0.5	$ 0.6