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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
	Oct. 02, 2021	Sep. 26, 2020	Oct. 02, 2021	Sep. 26, 2020
Accumulated Other Comprehensive Income (Loss) [Line Items]
Beginning balance	$ 4,025.5	$ 3,508.6	$ 3,846.6	$ 3,430.8
Other comprehensive (loss) income before reclassifications	(38.6)	42.6	(47.4)	23.8
Amounts reclassified from Accumulated OCI	6.5	6.2	18.4	18.5
Net other comprehensive income (loss)	(32.1)	48.8	(29.0)	42.3
Ending balance	4,069.3	3,640.8	4,069.3	3,640.8
Foreign Currency Translation
Accumulated Other Comprehensive Income (Loss) [Line Items]
Beginning balance	(84.5)	(207.6)	(74.7)	(187.4)
Other comprehensive (loss) income before reclassifications	(38.6)	42.6	(47.4)	22.4
Amounts reclassified from Accumulated OCI	0.0	0.0	(1.0)	0.0
Net other comprehensive income (loss)	(38.6)	42.6	(48.4)	22.4
Ending balance	(123.1)	(165.0)	(123.1)	(165.0)
Cash Flow Hedges
Accumulated Other Comprehensive Income (Loss) [Line Items]
Beginning balance	9.7	11.3	10.5	10.7
Other comprehensive (loss) income before reclassifications	0.0	0.0	0.0	1.4
Amounts reclassified from Accumulated OCI	(0.4)	(0.4)	(1.2)	(1.2)
Net other comprehensive income (loss)	(0.4)	(0.4)	(1.2)	0.2
Ending balance	9.3	10.9	9.3	10.9
Defined Benefit Pension and Postretirement Plans
Accumulated Other Comprehensive Income (Loss) [Line Items]
Beginning balance	(287.9)	(318.1)	(301.6)	(331.2)
Other comprehensive (loss) income before reclassifications	0.0	0.0	0.0	0.0
Amounts reclassified from Accumulated OCI	6.9	6.6	20.6	19.7
Net other comprehensive income (loss)	6.9	6.6	20.6	19.7
Ending balance	(281.0)	(311.5)	(281.0)	(311.5)
Accumulated Other Comprehensive Income (Loss)
Accumulated Other Comprehensive Income (Loss) [Line Items]
Beginning balance	(362.7)	(514.4)	(365.8)	(507.9)
Net other comprehensive income (loss)	(32.1)	48.8	(29.0)	42.3
Ending balance	$ (394.8)	$ (465.6)	$ (394.8)	$ (465.6)

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