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Pension and Other Postretirement Benefit Plans - Components of Net Periodic Benefit (Credit) Costs (Details) - USD ($)
$ in Millions
 3 Months Ended 9 Months Ended
Oct. 03, 2020
Sep. 28, 2019
Oct. 03, 2020
Sep. 28, 2019
Pension        
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]        
Settlement loss $ (10.2)   $ (10.2)  
Pension | U.S.        
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]        
Service cost 0.1 $ 0.0 0.1 $ 0.0
Interest cost 4.1 4.6 12.3 13.9
Expected return on plan assets (5.4) (5.0) (16.0) (15.1)
Amortization of actuarial loss (gain) 0.6 0.5 1.7 1.4
Settlement loss 0.0 0.0 0.3 0.1
Net periodic benefit (credit) cost (0.6) 0.1 (1.6) 0.3
Pension | Foreign        
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]        
Service cost 1.2 1.5 3.6 4.7
Interest cost 3.1 3.7 9.2 11.0
Expected return on plan assets (4.9) (5.2) (14.8) (15.6)
Amortization of actuarial loss (gain) 1.2 1.9 3.5 5.8
Settlement loss 10.2 0.0 10.2 0.0
Net periodic benefit (credit) cost 10.8 1.9 11.7 5.9
Other postretirement | U.S.        
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]        
Service cost 0.0 0.0 0.0 0.0
Interest cost 0.5 0.5 1.3 1.6
Amortization of actuarial loss (gain) (0.4) (0.6) (1.2) (1.7)
Amortization of prior service credit 0.0 0.0 (0.1) (0.1)
Net periodic benefit (credit) cost 0.1 (0.1) 0.0 (0.2)
Other postretirement | Foreign        
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]        
Service cost 0.0 0.1 0.0 0.2
Interest cost 0.2 0.3 0.6 1.0
Amortization of actuarial loss (gain) 0.0 0.0 0.0 0.0
Amortization of prior service credit 0.0 0.0 0.0 (0.1)
Net periodic benefit (credit) cost $ 0.2 $ 0.4 $ 0.6 $ 1.1