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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		9 Months Ended
	Oct. 03, 2020	Sep. 28, 2019	Oct. 03, 2020	Sep. 28, 2019
Accumulated Other Comprehensive Income (Loss) [Line Items]
Balance at beginning of period	$ 3,983.2	$ 4,399.5	$ 4,501.1	$ 4,360.6
Balance at end of period	4,276.1	4,375.1	4,276.1	4,375.1
Defined benefit plans
Accumulated Other Comprehensive Income (Loss) [Line Items]
Balance at beginning of period	(211.7)	(173.9)	(217.6)	(172.8)
Reclassification adjustments	11.0	1.5	13.1	4.7
Other comprehensive income (loss) recognized during the period	(29.7)	(4.6)	(25.9)	(8.9)
Balance at end of period	(230.4)	(177.0)	(230.4)	(177.0)
Reclassification adjustments, tax expense (benefit)	0.6	0.4	1.3	0.8
Other comprehensive income (loss) recognized during the period, tax (expense) benefit	5.4	1.6	5.4	1.6
Derivative instruments and hedging
Accumulated Other Comprehensive Income (Loss) [Line Items]
Balance at beginning of period	(50.4)	(1.2)	9.8	(9.7)
Reclassification adjustments	3.9	(8.4)	9.2	(25.5)
Other comprehensive income (loss) recognized during the period	14.8	(3.9)	(50.7)	21.7
Balance at end of period	(31.7)	(13.5)	(31.7)	(13.5)
Reclassification adjustments, tax expense (benefit)	0.1	(2.4)	1.8	(7.2)
Other comprehensive income (loss) recognized during the period, tax (expense) benefit	(6.3)	1.1	9.6	(6.2)
Foreign currency translation
Accumulated Other Comprehensive Income (Loss) [Line Items]
Balance at beginning of period	(660.9)	(523.1)	(564.9)	(523.3)
Other comprehensive income (loss) recognized during the period	83.3	(115.7)	(12.7)	(115.5)
Balance at end of period	(577.6)	(638.8)	(577.6)	(638.8)
Other comprehensive income (loss) recognized during the period, tax (expense) benefit	2.9	0.0	0.7	0.0
Total accumulated other comprehensive loss
Accumulated Other Comprehensive Income (Loss) [Line Items]
Balance at end of period	$ (839.7)	$ (829.3)	$ (839.7)	$ (829.3)

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