Restructuring and impairment charges - Expected costs to be incurred (Details) $ in Millions	3 Months Ended
	Apr. 02, 2023 USD ($)
2022 Restructuring Plan
Restructuring Cost and Reserve [Line Items]
Aggregate restructuring charges	$ 17.7
Restructuring reserve	12.6
Restructuring expenses	4.4
Aggregate restructuring related charges	14.5
2022 Restructuring Plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	39.0
Expected cash outlays	26.0
Expected capital expenditures	2.0
2022 Restructuring Plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	48.0
Expected cash outlays	32.0
Expected capital expenditures	2.0
Respiratory divestiture plan
Restructuring Cost and Reserve [Line Items]
Aggregate restructuring charges	3.4
Restructuring reserve	3.3
Restructuring expenses	2.1
Aggregate restructuring related charges	14.3
Respiratory divestiture plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	24.0
Expected cash outlays	24.0
Expected capital expenditures	22.0
Respiratory divestiture plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	30.0
Expected cash outlays	30.0
Expected capital expenditures	28.0
Termination benefits | 2022 Restructuring Plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	18.0
Termination benefits | 2022 Restructuring Plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	22.0
Termination benefits | Respiratory divestiture plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	5.0
Termination benefits | Respiratory divestiture plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	8.0
Other restructuring costs | 2022 Restructuring Plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	1.0
Other restructuring costs | 2022 Restructuring Plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	1.0
Other restructuring costs | Respiratory divestiture plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	0.0
Other restructuring costs | Respiratory divestiture plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	0.0
Special Termination Benefit And Other Restructuring | 2022 Restructuring Plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	19.0
Special Termination Benefit And Other Restructuring | 2022 Restructuring Plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	23.0
Special Termination Benefit And Other Restructuring | Respiratory divestiture plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	5.0
Special Termination Benefit And Other Restructuring | Respiratory divestiture plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	8.0
Accelerated Depreciation And Other Costs | 2022 Restructuring Plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	20.0
Accelerated Depreciation And Other Costs | 2022 Restructuring Plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	25.0
Accelerated Depreciation And Other Costs | Respiratory divestiture plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	19.0
Accelerated Depreciation And Other Costs | Respiratory divestiture plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	$ 22.0