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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			9 Months Ended
	Sep. 28, 2019		Sep. 29, 2018	Sep. 28, 2019		Sep. 29, 2018
Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Balance at beginning of period	$ 4,399.5		$ 4,427.4	$ 4,360.6		$ 4,292.6
Balance at end of period	4,375.1	[1]	4,435.7	4,375.1	[1]	4,435.7
Defined benefit plans
Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Balance at beginning of period	(173.9)		(178.4)	(172.8)		(184.0)
Reclassification adjustments	1.5		1.2	4.7		3.6
Other comprehensive income (loss) recognized during the period	(4.6)		(1.0)	(8.9)		2.2
Balance at end of period	(177.0)		(178.2)	(177.0)		(178.2)
Reclassification adjustments, tax expense (benefit)	0.4		0.3	0.8		0.9
Other comprehensive income (loss) recognized during the period, tax expense (benefit)	(1.6)		0.0	(1.6)		0.0
Derivative instruments and hedging
Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Balance at beginning of period	(1.2)		(18.7)	(9.7)		(22.9)
Reclassification adjustments	(8.4)		(6.4)	(25.5)		(9.9)
Other comprehensive income (loss) recognized during the period	(3.9)		48.8	21.7		56.5
Balance at end of period	(13.5)		23.7	(13.5)		23.7
Reclassification adjustments, tax expense (benefit)	(2.4)		(1.8)	(7.2)		(2.7)
Other comprehensive income (loss) recognized during the period, tax expense (benefit)	(1.1)		13.4	6.2		15.5
Foreign currency translation
Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Balance at beginning of period	(523.1)		(430.6)	(523.3)		(306.5)
Other comprehensive income (loss) recognized during the period	(115.7)		(70.8)	(115.5)		(194.9)
Balance at end of period	(638.8)		(501.4)	(638.8)		(501.4)
Other comprehensive income (loss) recognized during the period, tax expense (benefit)	0.0		(2.4)	0.0		(2.4)
Total accumulated other comprehensive loss
Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Balance at end of period	$ (829.3)		$ (655.9)	$ (829.3)		$ (655.9)
[1] Unaudited.

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Amount after tax, before reclassification adjustments of other comprehensive income (loss).

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