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Financial Instruments - Estimated Aggregate Fair Value and Carrying Value of Debt Instruments (Details) - USD ($)
$ in Millions
Sep. 28, 2019
Dec. 31, 2018
Estimated aggregate fair value    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Debt instruments $ 2,379.9 $ 1,921.6
Aggregate carrying value    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Debt instruments $ 2,339.0 $ 1,967.2