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Pension and Other Postretirement Benefit Plans - Components of Net Periodic Benefit (Credit) Costs (Details) - USD ($)
$ in Millions
 3 Months Ended 9 Months Ended
Sep. 28, 2019
Sep. 29, 2018
Sep. 28, 2019
Sep. 29, 2018
Pension | U.S.        
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]        
Service cost $ 0.0 $ 0.1 $ 0.0 $ 0.1
Interest cost 4.6 5.0 13.9 14.9
Expected return on plan assets (5.0) (7.0) (15.1) (20.8)
Amortization of actuarial (gain) loss 0.5 0.6 1.4 1.6
Curtailment loss 0.0 0.0 0.0 0.0
Settlement loss 0.0 0.0 0.1 0.2
Net periodic benefit (credit) cost 0.1 (1.3) 0.3 (4.0)
Pension | Foreign        
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]        
Service cost 1.5 1.7 4.7 5.2
Interest cost 3.7 3.6 11.0 11.1
Expected return on plan assets (5.2) (5.7) (15.6) (17.4)
Amortization of actuarial (gain) loss 1.9 1.6 5.8 4.7
Curtailment loss 0.0 0.5 0.0 0.5
Settlement loss 0.0 0.0 0.0 0.0
Net periodic benefit (credit) cost 1.9 1.7 5.9 4.1
Other postretirement | U.S.        
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]        
Service cost 0.0 0.0 0.0 0.0
Interest cost 0.5 0.4 1.6 1.4
Amortization of actuarial (gain) loss (0.6) (0.6) (1.7) (1.7)
Amortization of prior service credit 0.0 0.0 (0.1) (0.1)
Net periodic benefit (credit) cost (0.1) (0.2) (0.2) (0.4)
Other postretirement | Foreign        
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]        
Service cost 0.1 0.1 0.2 0.3
Interest cost 0.3 0.3 1.0 1.0
Amortization of actuarial (gain) loss 0.0 0.0 0.0 0.1
Amortization of prior service credit 0.0 (0.1) (0.1) (0.3)
Net periodic benefit (credit) cost $ 0.4 $ 0.3 $ 1.1 $ 1.1