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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 6 Months Ended
Jul. 04, 2020
Jun. 29, 2019
Jul. 04, 2020
Jun. 29, 2019
Accumulated Other Comprehensive Income (Loss) [Roll Forward]        
Balance at beginning of period $ 4,183.3 $ 4,393.7 $ 4,501.1 $ 4,360.6
Balance at end of period 3,983.2 [1] 4,399.5 3,983.2 [1] 4,399.5
Defined benefit plans        
Accumulated Other Comprehensive Income (Loss) [Roll Forward]        
Balance at beginning of period (208.7) (172.5) (217.6) (172.8)
Reclassification adjustments 0.8 1.6 2.1 3.2
Other comprehensive income (loss) recognized during the period (3.8) (3.0) 3.8 (4.3)
Balance at end of period (211.7) (173.9) (211.7) (173.9)
Reclassification adjustments, tax expense (benefit) 0.4 0.0 0.7 0.4
Other comprehensive income (loss) recognized during the period, tax (expense) benefit 0.0 0.0 0.0 0.0
Derivative instruments and hedging        
Accumulated Other Comprehensive Income (Loss) [Roll Forward]        
Balance at beginning of period (111.3) (9.0) 9.8 (9.7)
Reclassification adjustments 11.0 (10.0) 5.3 (17.1)
Other comprehensive income (loss) recognized during the period 49.9 17.8 (65.5) 25.6
Balance at end of period (50.4) (1.2) (50.4) (1.2)
Reclassification adjustments, tax expense (benefit) 3.1 (2.7) 1.7 (4.8)
Other comprehensive income (loss) recognized during the period, tax (expense) benefit (12.0) (5.0) 15.9 (7.3)
Foreign currency translation        
Accumulated Other Comprehensive Income (Loss) [Roll Forward]        
Balance at beginning of period (729.3) (530.0) (564.9) (523.3)
Other comprehensive income (loss) recognized during the period 68.4 6.9 (96.0) 0.2
Balance at end of period (660.9) (523.1) (660.9) (523.1)
Other comprehensive income (loss) recognized during the period, tax (expense) benefit 2.6 0.0 (2.2) 0.0
Total accumulated other comprehensive loss        
Accumulated Other Comprehensive Income (Loss) [Roll Forward]        
Balance at end of period $ (923.0) $ (698.2) $ (923.0) $ (698.2)
[1]
Unaudited.