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Comprehensive Income and Equity - Summary of Changes, Net of Tax, in Accumulated Other Comprehensive Loss (Details) - USD ($)
$ in Millions
 3 Months Ended
Mar. 30, 2019
Mar. 31, 2018
Accumulated Other Comprehensive Income (Loss) [Roll Forward]    
Balance at beginning of period $ 4,360.6 $ 4,292.6
Balance at end of period 4,393.7 [1] 4,554.6
Defined benefit plans    
Accumulated Other Comprehensive Income (Loss) [Roll Forward]    
Balance at beginning of period (172.8) (184.0)
Reclassification adjustments 1.6 1.3
Other comprehensive income (loss) recognized during the period (1.3) 1.0
Balance at end of period (172.5) (181.7)
Comprehensive income (loss), tax    
Reclassification adjustments, tax expense (benefit) 0.4 0.3
Other comprehensive income (loss), tax expense (benefit) 0.0 0.0
Derivative instruments and hedging    
Accumulated Other Comprehensive Income (Loss) [Roll Forward]    
Balance at beginning of period (9.7) (22.9)
Reclassification adjustments (7.1) (2.4)
Other comprehensive income (loss) recognized during the period 7.8 39.8
Balance at end of period (9.0) 14.5
Comprehensive income (loss), tax    
Reclassification adjustments, tax expense (benefit) (2.1) (0.7)
Other comprehensive income (loss), tax expense (benefit) 2.3 11.0
Foreign currency translation    
Accumulated Other Comprehensive Income (Loss) [Roll Forward]    
Balance at beginning of period (523.3) (306.5)
Other comprehensive income (loss) recognized during the period (6.7) 92.9
Balance at end of period (530.0) (213.6)
Comprehensive income (loss), tax    
Other comprehensive income (loss), tax expense (benefit) 0.0 0.0
Total accumulated other comprehensive loss    
Accumulated Other Comprehensive Income (Loss) [Roll Forward]    
Balance at end of period $ (711.5) $ (380.8)
[1] Unaudited.