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Restructuring and impairment (credits) charges - Expected Costs to be Incurred (Details) - USD ($)
$ in Millions
 3 Months Ended 9 Months Ended
Sep. 27, 2020
Jun. 28, 2020
Sep. 27, 2020
2019 Footprint realignment plan      
Restructuring Cost and Reserve [Line Items]      
Aggregate restructuring charges     $ 14.6
Restructuring reserve $ 7.9   7.9
Restructuring expenses 4.3   10.7
Aggregate restructuring related charges     17.3
2019 Footprint realignment plan | Minimum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring charges 58.0   58.0
Expected cash outlays 55.0   55.0
Expected capital expenditures 27.0   27.0
2019 Footprint realignment plan | Maximum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring charges 67.0   67.0
Expected cash outlays 63.0   63.0
Expected capital expenditures 33.0   33.0
2018 Footprint realignment plan      
Restructuring Cost and Reserve [Line Items]      
Aggregate restructuring charges     59.1
Restructuring reserve 47.2   47.2
Restructuring expenses 3.3   6.0
Aggregate restructuring related charges     13.2
2018 Footprint realignment plan | Minimum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring charges 102.0   102.0
Expected cash outlays 99.0   99.0
Expected capital expenditures 19.0   19.0
2018 Footprint realignment plan | Maximum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring charges 133.0   133.0
Expected cash outlays 127.0   127.0
Expected capital expenditures 23.0   23.0
2014 Footprint realignment plan      
Restructuring Cost and Reserve [Line Items]      
Aggregate restructuring charges     13.5
Restructuring reserve 3.7   3.7
Restructuring expenses 1.0   2.7
Aggregate restructuring related charges     35.0
Increase (decrease) in restructuring reserve   $ 3.0  
2014 Footprint realignment plan | Minimum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring charges 51.0   51.0
Expected cash outlays 42.0   42.0
Expected capital expenditures 25.0   25.0
2014 Footprint realignment plan | Maximum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring charges 55.0   55.0
Expected cash outlays 46.0   46.0
Expected capital expenditures 26.0   26.0
Termination benefits | Minimum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring charges 10.0   10.0
Termination benefits | Maximum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring charges 13.0   13.0
Termination benefits | 2019 Footprint realignment plan | Minimum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring charges 16.0   16.0
Termination benefits | 2019 Footprint realignment plan | Maximum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring charges 20.0   20.0
Termination benefits | 2018 Footprint realignment plan | Minimum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring charges 60.0   60.0
Termination benefits | 2018 Footprint realignment plan | Maximum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring charges 70.0   70.0
Termination benefits | 2014 Footprint realignment plan | Minimum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring charges 12.0   12.0
Termination benefits | 2014 Footprint realignment plan | Maximum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring charges 13.0   13.0
Other Restructuring costs | 2019 Footprint realignment plan | Minimum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring charges 2.0   2.0
Other Restructuring costs | 2019 Footprint realignment plan | Maximum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring charges 2.0   2.0
Other Restructuring costs | 2018 Footprint realignment plan | Minimum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring charges 2.0   2.0
Other Restructuring costs | 2018 Footprint realignment plan | Maximum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring charges 4.0   4.0
Other Restructuring costs | 2014 Footprint realignment plan | Minimum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring charges 1.0   1.0
Other Restructuring costs | 2014 Footprint realignment plan | Maximum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring charges 2.0   2.0
Special Termination Benefit And Other Restructuring | 2019 Footprint realignment plan | Minimum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring charges 18.0   18.0
Special Termination Benefit And Other Restructuring | 2019 Footprint realignment plan | Maximum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring charges 22.0   22.0
Special Termination Benefit And Other Restructuring | 2018 Footprint realignment plan | Minimum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring charges 62.0   62.0
Special Termination Benefit And Other Restructuring | 2018 Footprint realignment plan | Maximum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring charges 74.0   74.0
Special Termination Benefit And Other Restructuring | 2014 Footprint realignment plan | Minimum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring charges 13.0   13.0
Special Termination Benefit And Other Restructuring | 2014 Footprint realignment plan | Maximum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring charges 15.0   15.0
Accelerated Depreciation And Other Costs | 2019 Footprint realignment plan | Minimum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring charges 40.0   40.0
Accelerated Depreciation And Other Costs | 2019 Footprint realignment plan | Maximum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring charges 45.0   45.0
Accelerated Depreciation And Other Costs | 2018 Footprint realignment plan | Minimum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring charges 40.0   40.0
Accelerated Depreciation And Other Costs | 2018 Footprint realignment plan | Maximum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring charges 59.0   59.0
Accelerated Depreciation And Other Costs | 2014 Footprint realignment plan | Minimum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring charges 38.0   38.0
Accelerated Depreciation And Other Costs | 2014 Footprint realignment plan | Maximum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring charges $ 40.0   $ 40.0