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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 | 6 Months Ended
--- | --- | ---
Jun. 29, 2019 | Jun. 30, 2018 | Jun. 29, 2019 | Jun. 30, 2018
Accumulated Other Comprehensive Income (Loss) [Roll Forward] |  |  |  |  |  |
Balance at beginning of period | $ 4,393.7 |  | $ 4,554.6 | $ 4,360.6 |  | $ 4,292.6
Balance at end of period | 4,399.5 | [1] | 4,427.4 | 4,399.5 | [1] | 4,427.4
Defined benefit plans |  |  |  |  |  |
Accumulated Other Comprehensive Income (Loss) [Roll Forward] |  |  |  |  |  |
Balance at beginning of period | (172.5) |  | (181.7) | (172.8) |  | (184.0)
Reclassification adjustments | 1.6 |  | 1.1 | 3.2 |  | 2.4
Other comprehensive income (loss) recognized during the period | (3.0) |  | 2.2 | (4.3) |  | 3.2
Balance at end of period | (173.9) |  | (178.4) | (173.9) |  | (178.4)
Reclassification adjustments, tax expense (benefit) | 0.0 |  | 0.3 | 0.4 |  | 0.6
Other comprehensive income (loss) recognized during the period, tax expense (benefit) | 0.0 |  | 0.0 | 0.0 |  | 0.0
Derivative instruments and hedging |  |  |  |  |  |
Accumulated Other Comprehensive Income (Loss) [Roll Forward] |  |  |  |  |  |
Balance at beginning of period | (9.0) |  | 14.5 | (9.7) |  | (22.9)
Reclassification adjustments | (10.0) |  | (1.1) | (17.1) |  | (3.5)
Other comprehensive income (loss) recognized during the period | 17.8 |  | (32.1) | 25.6 |  | 7.7
Balance at end of period | (1.2) |  | (18.7) | (1.2) |  | (18.7)
Reclassification adjustments, tax expense (benefit) | (2.7) |  | (0.2) | (4.8) |  | (0.9)
Other comprehensive income (loss) recognized during the period, tax expense (benefit) | 5.0 |  | (8.9) | 7.3 |  | 2.1
Foreign currency translation |  |  |  |  |  |
Accumulated Other Comprehensive Income (Loss) [Roll Forward] |  |  |  |  |  |
Balance at beginning of period | (530.0) |  | (213.6) | (523.3) |  | (306.5)
Other comprehensive income (loss) recognized during the period | 6.9 |  | (217.0) | 0.2 |  | (124.1)
Balance at end of period | (523.1) |  | (430.6) | (523.1) |  | (430.6)
Other comprehensive income (loss) recognized during the period, tax expense (benefit) | 0.0 |  | 0.0 | 0.0 |  | 0.0
Total accumulated other comprehensive loss |  |  |  |  |  |
Accumulated Other Comprehensive Income (Loss) [Roll Forward] |  |  |  |  |  |
Balance at end of period | $ (698.2) |  | $ (627.7) | $ (698.2) |  | $ (627.7)
[1] | Unaudited.

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