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Comprehensive Income and Equity - Dividends Declared and Paid (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 28, 2019
Sep. 29, 2018
Sep. 28, 2019
Sep. 29, 2018
Equity [Abstract]        
Dividends declared $ 45.7 $ 46.4 $ 140.3 $ 141.1
Dividends paid     $ 141.1 $ 142.1