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Other Comprehensive Earnings (Loss) - Schedule of Accumulated Other Comprehensive Earnings (Loss) (Details) - USD ($)
$ in Millions
 3 Months Ended
Mar. 28, 2021
Mar. 29, 2020
AOCI Attributable to Parent, Net of Tax [Roll Forward]    
Balance at the beginning of the period $ 2,936.7 $ 2,995.5
Current period other comprehensive earnings (loss) (11.4) (110.6)
Balance at the end of the period 2,959.9 2,764.5
Pension and Postretirement Amounts    
AOCI Attributable to Parent, Net of Tax [Roll Forward]    
Balance at the beginning of the period (40.7) (36.2)
Current period other comprehensive earnings (loss) 0.2 0.3
Balance at the end of the period (40.5) (35.9)
Gains (Losses) on Derivative Instruments    
AOCI Attributable to Parent, Net of Tax [Roll Forward]    
Balance at the beginning of the period (22.1) (5.2)
Current period other comprehensive earnings (loss) 4.5 21.3
Balance at the end of the period (17.6) 16.1
Unrealized Holding Gains (Losses) on Available- for-Sale Securities    
AOCI Attributable to Parent, Net of Tax [Roll Forward]    
Balance at the beginning of the period 0.4 (0.2)
Current period other comprehensive earnings (loss) 0.0 (0.4)
Balance at the end of the period 0.4 (0.6)
Foreign Currency Translation Adjustments    
AOCI Attributable to Parent, Net of Tax [Roll Forward]    
Balance at the beginning of the period (132.6) (142.6)
Current period other comprehensive earnings (loss) (16.1) (131.8)
Balance at the end of the period (148.7) (274.4)
AOCI Attributable to Parent    
AOCI Attributable to Parent, Net of Tax [Roll Forward]    
Balance at the beginning of the period (195.0) (184.2)
Current period other comprehensive earnings (loss) (11.4) (110.6)
Balance at the end of the period $ (206.4) $ (294.8)