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Comprehensive Income (Loss) and Equity - Summary of Changes, Net of Tax, in Accumulated Other Comprehensive Loss (Details) - USD ($) $ in Millions | 3 Months Ended
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Apr. 04, 2020 | Mar. 30, 2019
Accumulated Other Comprehensive Income (Loss) [Roll Forward] |  |  |
Balance at beginning of period | $ 4,501.1 |  | $ 4,360.6
Balance at end of period | 4,183.3 | [1] | 4,393.7
Defined benefit plans |  |  |
Accumulated Other Comprehensive Income (Loss) [Roll Forward] |  |  |
Balance at beginning of period | (217.6) |  | (172.8)
Reclassification adjustments | 1.3 |  | 1.6
Other comprehensive income (loss) recognized during the period | 7.6 |  | (1.3)
Balance at end of period | (208.7) |  | (172.5)
Reclassification adjustments, tax expense (benefit) | 0.3 |  | 0.4
Other comprehensive income (loss) recognized during the period, tax expense (benefit) | 0.0 |  | 0.0
Derivative instruments and hedging |  |  |
Accumulated Other Comprehensive Income (Loss) [Roll Forward] |  |  |
Balance at beginning of period | 9.8 |  | (9.7)
Reclassification adjustments | (5.7) |  | (7.1)
Other comprehensive income (loss) recognized during the period | (115.4) |  | 7.8
Balance at end of period | (111.3) |  | (9.0)
Reclassification adjustments, tax expense (benefit) | (1.4) |  | (2.1)
Other comprehensive income (loss) recognized during the period, tax expense (benefit) | (27.9) |  | 2.3
Foreign currency translation |  |  |
Accumulated Other Comprehensive Income (Loss) [Roll Forward] |  |  |
Balance at beginning of period | (564.9) |  | (523.3)
Other comprehensive income (loss) recognized during the period | (164.4) |  | (6.7)
Balance at end of period | (729.3) |  | (530.0)
Other comprehensive income (loss) recognized during the period, tax expense (benefit) | 4.8 |  | 0.0
Total accumulated other comprehensive loss |  |  |
Accumulated Other Comprehensive Income (Loss) [Roll Forward] |  |  |
Balance at end of period | $ (1,049.3) |  | $ (711.5)
[1] | Unaudited.

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