Accumulated Other Comprehensive Income (Loss) - Net Changes in Accumulated OCI by Component, Net of Tax (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Oct. 01, 2022	Sep. 30, 2023	Oct. 01, 2022
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	$ 4,779.3	$ 4,346.8	$ 4,503.5	$ 4,203.8
Other comprehensive loss before reclassifications	(52.3)	(127.6)	(34.0)	(247.6)
Amounts reclassified from Accumulated OCI	(0.3)	3.0	(1.0)	9.2
Net other comprehensive income (loss)	(52.6)	(124.6)	(35.0)	(238.4)
Ending balance	4,852.4	4,339.5	4,852.4	4,339.5
Accumulated Other Comprehensive Loss
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	(510.7)	(457.7)	(528.3)	(343.9)
Net other comprehensive income (loss)	(52.6)	(124.6)	(35.0)	(238.4)
Ending balance	(563.3)	(582.3)	(563.3)	(582.3)
Foreign Currency Translation
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	(254.2)	(265.1)	(272.5)	(145.1)
Other comprehensive loss before reclassifications	(52.3)	(127.6)	(34.0)	(247.6)
Amounts reclassified from Accumulated OCI	0.0	0.0	0.0	0.0
Net other comprehensive income (loss)	(52.3)	(127.6)	(34.0)	(247.6)
Ending balance	(306.5)	(392.7)	(306.5)	(392.7)
Cash Flow Hedges
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	6.5	8.1	7.3	8.9
Other comprehensive loss before reclassifications	0.0	0.0	0.0	0.0
Amounts reclassified from Accumulated OCI	(0.4)	(0.4)	(1.2)	(1.2)
Net other comprehensive income (loss)	(0.4)	(0.4)	(1.2)	(1.2)
Ending balance	6.1	7.7	6.1	7.7
Defined Benefit Pension and Postretirement Plans
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	(263.0)	(200.7)	(263.1)	(207.7)
Other comprehensive loss before reclassifications	0.0	0.0	0.0	0.0
Amounts reclassified from Accumulated OCI	0.1	3.4	0.2	10.4
Net other comprehensive income (loss)	0.1	3.4	0.2	10.4
Ending balance	$ (262.9)	$ (197.3)	$ (262.9)	$ (197.3)