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Financial Instruments - Narrative (Details) - USD ($)
 3 Months Ended 9 Months Ended
Oct. 03, 2020
Sep. 28, 2019
Oct. 03, 2020
Sep. 28, 2019
Jan. 01, 2020
Dec. 31, 2019
Derivative [Line Items]            
Retained earnings $ 4,620,700,000   $ 4,620,700,000     $ 4,715,800,000
Accounts receivable, reserves 34,400,000   34,400,000     36,000,000.0
Investments in equity securities without readily determinable fair values 15,200,000   15,200,000     15,200,000
Interest expense 26,500,000 $ 24,000,000.0 78,100,000 $ 69,400,000    
Derivative contracts classified within Level 3 of fair value hierarchy 0   0     0
Derivative contracts transfers in to Level 3 fair value hierarchy     0      
Fair value of plan assets 274,400,000   274,400,000      
Level 1            
Derivative [Line Items]            
Fair value of plan assets 60,300,000   60,300,000      
Level 2            
Derivative [Line Items]            
Fair value of plan assets 184,200,000   184,200,000      
Net Asset Value            
Derivative [Line Items]            
Fair value of plan assets 29,900,000   29,900,000      
Foreign currency contracts | Designated as hedging instrument | Derivative instruments and hedging            
Derivative [Line Items]            
Pretax gains (losses) related to derivative instruments and hedging activities in accumulated other comprehensive loss $ (33,400,000)   (33,400,000)     $ 19,400,000
Net investment hedges | Interest rate swap contracts | Designated as hedging instrument            
Derivative [Line Items]            
Interest expense     $ 4,900,000      
Cumulative Effect, Period of Adoption, Adjustment | ASU 2016-13            
Derivative [Line Items]            
Retained earnings         $ (800,000)  
Accounts receivable, reserves         $ 800,000