Pension and Other Postretirement Benefit Plans - Components of Net Periodic Benefit (Credit) Costs (Details) - USD ($) $ in Millions	3 Months Ended
	Apr. 01, 2023	Apr. 02, 2022
Pension | U.S.
Defined Benefit Plan, Net Periodic Benefit Cost (Credit)
Service cost	$ 0.0	$ 0.0
Interest cost	5.2	3.9
Expected return on plan assets	(5.0)	(6.0)
Amortization of actuarial loss	0.2	0.5
Settlement (gain) loss	(0.1)	0.4
Net periodic benefit (credit) cost	0.3	(1.2)
Pension | Foreign
Defined Benefit Plan, Net Periodic Benefit Cost (Credit)
Service cost	0.8	1.0
Interest cost	4.1	2.9
Expected return on plan assets	(4.0)	(4.4)
Amortization of actuarial loss	0.5	1.1
Settlement (gain) loss	0.0	0.0
Net periodic benefit (credit) cost	1.4	0.6
Other Postretirement | U.S.
Defined Benefit Plan, Net Periodic Benefit Cost (Credit)
Interest cost	0.4	0.4
Amortization of actuarial loss	(0.9)	(0.3)
Net periodic benefit (credit) cost	(0.5)	0.1
Other Postretirement | Foreign
Defined Benefit Plan, Net Periodic Benefit Cost (Credit)
Interest cost	0.2	0.2
Amortization of actuarial loss	0.0	0.0
Net periodic benefit (credit) cost	$ 0.2	$ 0.2