Financial Instruments - Narrative (Details)	3 Months Ended				9 Months Ended
	Oct. 02, 2021 USD ($)	Jul. 03, 2021 segment	Apr. 03, 2021 segment	Oct. 03, 2020 USD ($)	Oct. 02, 2021 USD ($)	Oct. 03, 2020 USD ($)	Dec. 31, 2020 USD ($)
Derivative [Line Items]
Accounts receivable, reserves	$ 33,300,000				$ 33,300,000		$ 35,300,000
Investments in equity securities without readily determinable fair values	15,400,000				15,400,000		11,200,000
Cumulative impairment	10,000,000				10,000,000
Impairment loss					1,000,000
Interest expense	22,600,000			$ 26,500,000	67,200,000	$ 78,100,000
Derivative contracts classified within Level 3 of fair value hierarchy	0				0		0
Derivative contracts transfers in to Level 3 fair value hierarchy					0
Number of reporting units assessed for goodwill impairment | segment		1	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	$ (7,200,000)				(7,200,000)		$ 4,700,000
Net investment hedges | Interest Rate Swap | Designated as Hedging Instrument
Derivative [Line Items]
Interest expense					$ 4,900,000	$ 4,900,000