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Restructuring - Narrative (Details) $ in Millions	3 Months Ended	9 Months Ended
	Oct. 03, 2020 USD ($)	Oct. 03, 2020 USD ($)
Restructuring Cost And Reserve [Line Items]
Restructuring charges, including curtailment and settlement losses		$ 119.3
Restructuring charges		109.1
Carrying values in excess of estimated fair values	$ 12.5	12.5
Impairment of right of use assets		2.0
Expected restructuring costs	30.0	30.0
Pension
Restructuring Cost And Reserve [Line Items]
Settlement loss	$ 10.2	10.2
Employee termination costs
Restructuring Cost And Reserve [Line Items]
Restructuring charges		84.3
Asset impairment charges
Restructuring Cost And Reserve [Line Items]
Restructuring charges		14.5
Contract termination costs
Restructuring Cost And Reserve [Line Items]
Restructuring charges		0.9
Other related costs
Restructuring Cost And Reserve [Line Items]
Restructuring charges		9.4
Cost of sales
Restructuring Cost And Reserve [Line Items]
Restructuring charges		83.0
Selling, general and administrative expenses
Restructuring Cost And Reserve [Line Items]
Restructuring charges		23.4
Other expense, net
Restructuring Cost And Reserve [Line Items]
Restructuring charges		$ 12.9

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