Restructuring and impairment charges - Expected costs to be incurred (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Oct. 01, 2023	Sep. 25, 2022	Oct. 01, 2023	Sep. 25, 2022
2023 Footprint Realignment Plan
Restructuring Cost and Reserve [Line Items]
Restructuring reserve	$ 1.3		$ 1.3
2023 Footprint Realignment Plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	11.0		11.0
Restructuring and Related Cost, Expected Cash Outlays	2.0		2.0
2023 Footprint Realignment Plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	15.0		15.0
Restructuring and Related Cost, Expected Cash Outlays	3.0		3.0
Respiratory divestiture plan
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	1.6	$ 2.1	5.6	$ 6.5
Aggregate restructuring charges			2.7
Restructuring costs			17.9
Restructuring reserve	2.5		2.5
Respiratory divestiture plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	22.0		22.0
Restructuring and Related Cost, Expected Cash Outlays	22.0		22.0
Respiratory divestiture plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	24.0		24.0
Restructuring and Related Cost, Expected Cash Outlays	24.0		24.0
Special Termination Benefit And Other Restructuring | 2023 Footprint Realignment Plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	4.0		4.0
Special Termination Benefit And Other Restructuring | 2023 Footprint Realignment Plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	6.0		6.0
Special Termination Benefit And Other Restructuring | Respiratory divestiture plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	3.0		3.0
Special Termination Benefit And Other Restructuring | Respiratory divestiture plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	3.0		3.0
Accelerated Depreciation And Other Costs | 2023 Footprint Realignment Plan | Minimum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	7.0		7.0
Accelerated Depreciation And Other Costs | 2023 Footprint Realignment Plan | Maximum
Restructuring Cost and Reserve [Line Items]
Expected restructuring charges	9.0		9.0
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	$ 21.0		$ 21.0