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Financial Instruments and Derivative Instruments - Fair Value on a Recurring Basis (Details) - Fair value measured on a recurring basis - USD ($) $ in Millions | Apr. 01, 2018 | Dec. 31, 2017
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Assets |  |
Plan assets for deferred compensation | $ 3.1 | $ 3.2
Total assets | 11.4 | 8.8
Liabilities |  |
Plan liabilities for deferred compensation | 3.1 | 3.2
Redeemable financial instrument | 3.0 | 2.9
Total liabilities | 6.1 | 6.1
Interest Rate Swaps |  |
Assets |  |
Derivative outstanding | 8.1 | 5.6
Forward exchange contracts |  |
Assets |  |
Derivative outstanding | 0.2 |
Quoted Prices in Active Markets for Identical Assets (Level 1) |  |
Assets |  |
Plan assets for deferred compensation | 3.1 | 3.2
Total assets | 3.1 | 3.2
Liabilities |  |
Plan liabilities for deferred compensation | 3.1 | 3.2
Total liabilities | 3.1 | 3.2
Significant Other Observable Inputs (Level 2) |  |
Assets |  |
Total assets | 8.3 | 5.6
Significant Other Observable Inputs (Level 2) | Interest Rate Swaps |  |
Assets |  |
Derivative outstanding | 8.1 | 5.6
Significant Other Observable Inputs (Level 2) | Forward exchange contracts |  |
Assets |  |
Derivative outstanding | 0.2 |
Significant Unobservable Inputs (Level 3) |  |
Liabilities |  |
Redeemable financial instrument | 3.0 | 2.9
Total liabilities | $ 3.0 | $ 2.9

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- Definition Fair value portion of probable future economic benefits obtained or controlled by an entity as a result of past transactions or events. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 820 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=66048111&loc=d3e19207-110258 + Details
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- Definition Aggregate carrying value as of the balance sheet date of the liabilities for all deferred compensation arrangements. Represents currently earned compensation under compensation arrangements that is not actually paid until a later date. + References No definition available. + Details
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- Definition Carrying amount as of the balance sheet date of assets held under deferred compensation agreements. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02.17) -URI http://asc.fasb.org/extlink&oid=6877327&loc=d3e13212-122682 + Details
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- Definition Fair values as of the balance sheet date of the net amount of all assets and liabilities resulting from contracts that meet the criteria of being accounted for as derivative instruments. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 815 -SubTopic 10 -Section 45 -Paragraph 5 -URI http://asc.fasb.org/extlink&oid=6945355&loc=d3e41228-113958 + Details
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