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Pension and Other Postretirement Benefit Plans - Components of Net Periodic Benefit (Credit) Costs (Details) - USD ($)
$ in Millions
 3 Months Ended
Apr. 04, 2020
Mar. 30, 2019
Pension | U.S.    
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]    
Service cost $ 0.0 $ 0.0
Interest cost 4.1 4.6
Expected return on plan assets (5.3) (5.0)
Amortization of actuarial loss (gain) 0.6 0.5
Settlement loss 0.3 0.1
Net periodic benefit (credit) cost (0.3) 0.2
Pension | Foreign    
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]    
Service cost 1.2 1.6
Interest cost 3.1 3.7
Expected return on plan assets (5.0) (5.2)
Amortization of actuarial loss (gain) 1.1 2.0
Settlement loss 0.0 0.0
Net periodic benefit (credit) cost 0.4 2.1
Other postretirement | U.S.    
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]    
Service cost 0.0 0.0
Interest cost 0.4 0.5
Amortization of actuarial loss (gain) (0.4) (0.6)
Net periodic benefit (credit) cost 0.0 (0.1)
Other postretirement | Foreign    
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]    
Service cost 0.0 0.1
Interest cost 0.2 0.3
Amortization of actuarial loss (gain) 0.0 0.0
Net periodic benefit (credit) cost $ 0.2 $ 0.4