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Restructuring and impairment charges - Expected Costs to be Incurred (Details)
$ in Millions
 3 Months Ended
Mar. 28, 2021
USD ($)
2019 Footprint realignment plan  
Restructuring Cost and Reserve [Line Items]  
Aggregate restructuring charges $ 15.7
Restructuring reserve 7.0
Restructuring expenses 3.6
Aggregate restructuring related charges 24.7
2019 Footprint realignment plan | Minimum  
Restructuring Cost and Reserve [Line Items]  
Expected restructuring charges 56.0
Expected cash outlays 50.0
Expected capital expenditures 28.0
2019 Footprint realignment plan | Maximum  
Restructuring Cost and Reserve [Line Items]  
Expected restructuring charges 63.0
Expected cash outlays 57.0
Expected capital expenditures 33.0
2018 Footprint realignment plan  
Restructuring Cost and Reserve [Line Items]  
Aggregate restructuring charges 60.3
Restructuring reserve 46.0
Restructuring expenses 2.0
Aggregate restructuring related charges 18.7
2018 Footprint realignment plan | Minimum  
Restructuring Cost and Reserve [Line Items]  
Expected restructuring charges 103.0
Expected cash outlays 99.0
Expected capital expenditures 19.0
2018 Footprint realignment plan | Maximum  
Restructuring Cost and Reserve [Line Items]  
Expected restructuring charges 133.0
Expected cash outlays 127.0
Expected capital expenditures 23.0
2014 Footprint realignment plan  
Restructuring Cost and Reserve [Line Items]  
Aggregate restructuring charges 13.6
Restructuring reserve 3.3
Restructuring expenses 0.7
Aggregate restructuring related charges 36.7
2014 Footprint realignment plan | Minimum  
Restructuring Cost and Reserve [Line Items]  
Expected restructuring charges 52.0
Expected cash outlays 42.0
Expected capital expenditures 26.0
2014 Footprint realignment plan | Maximum  
Restructuring Cost and Reserve [Line Items]  
Expected restructuring charges 55.0
Expected cash outlays 46.0
Expected capital expenditures 27.0
Termination benefits | 2019 Footprint realignment plan | Minimum  
Restructuring Cost and Reserve [Line Items]  
Expected restructuring charges 16.0
Termination benefits | 2019 Footprint realignment plan | Maximum  
Restructuring Cost and Reserve [Line Items]  
Expected restructuring charges 18.0
Termination benefits | 2018 Footprint realignment plan | Minimum  
Restructuring Cost and Reserve [Line Items]  
Expected restructuring charges 60.0
Termination benefits | 2018 Footprint realignment plan | Maximum  
Restructuring Cost and Reserve [Line Items]  
Expected restructuring charges 70.0
Termination benefits | 2014 Footprint realignment plan | Minimum  
Restructuring Cost and Reserve [Line Items]  
Expected restructuring charges 13.0
Termination benefits | 2014 Footprint realignment plan | Maximum  
Restructuring Cost and Reserve [Line Items]  
Expected restructuring charges 13.0
Other Restructuring costs | 2019 Footprint realignment plan | Minimum  
Restructuring Cost and Reserve [Line Items]  
Expected restructuring charges 2.0
Other Restructuring costs | 2019 Footprint realignment plan | Maximum  
Restructuring Cost and Reserve [Line Items]  
Expected restructuring charges 2.0
Other Restructuring costs | 2018 Footprint realignment plan | Minimum  
Restructuring Cost and Reserve [Line Items]  
Expected restructuring charges 3.0
Other Restructuring costs | 2018 Footprint realignment plan | Maximum  
Restructuring Cost and Reserve [Line Items]  
Expected restructuring charges 4.0
Other Restructuring costs | 2014 Footprint realignment plan | Minimum  
Restructuring Cost and Reserve [Line Items]  
Expected restructuring charges 1.0
Other Restructuring costs | 2014 Footprint realignment plan | Maximum  
Restructuring Cost and Reserve [Line Items]  
Expected restructuring charges 2.0
Special Termination Benefit And Other Restructuring | 2019 Footprint realignment plan | Minimum  
Restructuring Cost and Reserve [Line Items]  
Expected restructuring charges 18.0
Special Termination Benefit And Other Restructuring | 2019 Footprint realignment plan | Maximum  
Restructuring Cost and Reserve [Line Items]  
Expected restructuring charges 20.0
Special Termination Benefit And Other Restructuring | 2018 Footprint realignment plan | Minimum  
Restructuring Cost and Reserve [Line Items]  
Expected restructuring charges 63.0
Special Termination Benefit And Other Restructuring | 2018 Footprint realignment plan | Maximum  
Restructuring Cost and Reserve [Line Items]  
Expected restructuring charges 74.0
Special Termination Benefit And Other Restructuring | 2014 Footprint realignment plan | Minimum  
Restructuring Cost and Reserve [Line Items]  
Expected restructuring charges 14.0
Special Termination Benefit And Other Restructuring | 2014 Footprint realignment plan | Maximum  
Restructuring Cost and Reserve [Line Items]  
Expected restructuring charges 15.0
Accelerated Depreciation And Other Costs | 2019 Footprint realignment plan | Minimum  
Restructuring Cost and Reserve [Line Items]  
Expected restructuring charges 38.0
Accelerated Depreciation And Other Costs | 2019 Footprint realignment plan | Maximum  
Restructuring Cost and Reserve [Line Items]  
Expected restructuring charges 43.0
Accelerated Depreciation And Other Costs | 2018 Footprint realignment plan | Minimum  
Restructuring Cost and Reserve [Line Items]  
Expected restructuring charges 40.0
Accelerated Depreciation And Other Costs | 2018 Footprint realignment plan | Maximum  
Restructuring Cost and Reserve [Line Items]  
Expected restructuring charges 59.0
Accelerated Depreciation And Other Costs | 2014 Footprint realignment plan | Minimum  
Restructuring Cost and Reserve [Line Items]  
Expected restructuring charges 38.0
Accelerated Depreciation And Other Costs | 2014 Footprint realignment plan | Maximum  
Restructuring Cost and Reserve [Line Items]  
Expected restructuring charges $ 40.0