Restructuring and impairment charges - Expected costs to be incurred (Details) $ in Millions	3 Months Ended	9 Months Ended
	Sep. 25, 2022 USD ($)	Sep. 25, 2022 USD ($)
Respiratory divestiture plan
Restructuring Cost and Reserve [Line Items]
Aggregate restructuring charges		$ 3.1
Restructuring reserve	$ 2.8	2.8
Restructuring expenses	2.1	6.5
Aggregate restructuring related charges		9.8
Respiratory divestiture plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	24.0	24.0
Expected cash outlays	24.0	24.0
Expected capital expenditures	22.0	22.0
Respiratory divestiture plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	30.0	30.0
Expected cash outlays	30.0	30.0
Expected capital expenditures	28.0	28.0
2019 Footprint realignment plan
Restructuring Cost and Reserve [Line Items]
Aggregate restructuring charges		14.5
Restructuring reserve	1.6	1.6
Restructuring expenses	1.3	4.2
Aggregate restructuring related charges		38.4
2019 Footprint realignment plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	56.0	56.0
Expected cash outlays	48.0	48.0
Expected capital expenditures	32.0	32.0
2019 Footprint realignment plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	60.0	60.0
Expected cash outlays	52.0	52.0
Expected capital expenditures	34.0	34.0
2018 Footprint realignment plan
Restructuring Cost and Reserve [Line Items]
Aggregate restructuring charges		63.5
Restructuring reserve	34.5	34.5
Restructuring expenses	2.7	8.2
Aggregate restructuring related charges		35.5
2018 Footprint realignment plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	108.0	108.0
Expected cash outlays	95.0	95.0
Expected capital expenditures	16.0	16.0
2018 Footprint realignment plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	116.0	116.0
Expected cash outlays	100.0	100.0
Expected capital expenditures	17.0	17.0
Termination benefits | Respiratory divestiture plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	5.0	5.0
Termination benefits | Respiratory divestiture plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	8.0	8.0
Termination benefits | 2019 Footprint realignment plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	12.0	12.0
Termination benefits | 2019 Footprint realignment plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	13.0	13.0
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	63.0	63.0
Other restructuring costs | Respiratory divestiture plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	0.0	0.0
Other restructuring costs | Respiratory divestiture plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	0.0	0.0
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	4.0	4.0
Other restructuring costs | 2018 Footprint realignment plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	4.0	4.0
Special Termination Benefit And Other Restructuring | Respiratory divestiture plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	5.0	5.0
Special Termination Benefit And Other Restructuring | Respiratory divestiture plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	8.0	8.0
Special Termination Benefit And Other Restructuring | 2019 Footprint realignment plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	14.0	14.0
Special Termination Benefit And Other Restructuring | 2019 Footprint realignment plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	15.0	15.0
Special Termination Benefit And Other Restructuring | 2018 Footprint realignment plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	64.0	64.0
Special Termination Benefit And Other Restructuring | 2018 Footprint realignment plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	67.0	67.0
Accelerated Depreciation And Other Costs | Respiratory divestiture plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	19.0	19.0
Accelerated Depreciation And Other Costs | Respiratory divestiture plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	22.0	22.0
Accelerated Depreciation And Other Costs | 2019 Footprint realignment plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	42.0	42.0
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	44.0	44.0
Accelerated Depreciation And Other Costs | 2018 Footprint realignment plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	$ 49.0	$ 49.0