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Quarterly Financial Data (unaudited) - Narrative (Details) - USD ($)
$ in Millions
 3 Months Ended 12 Months Ended
Dec. 31, 2020
Oct. 03, 2020
Jul. 04, 2020
Apr. 04, 2020
Dec. 31, 2019
Sep. 28, 2019
Jun. 29, 2019
Mar. 30, 2019
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Quarterly Financial Information [Line Items]                      
Tax expense (benefit) on valuation allowances on the deferred tax assets of a certain foreign subsidiary   $ 9.8 $ 22.8   $ 14.1       $ 47.7 $ 1.2 $ (38.8)
Loss on extinguishment of debt       $ 21.1     $ 10.6   21.1 10.6 0.0
Tax benefit on restructuring charges and various other items   10.2 $ 21.1   32.2 $ 9.1 11.0 $ 15.6      
Deferred tax asset $ 16.7               52.9    
Defined benefit plan, loss due to settlement 2.7 10.2             12.9    
Deferred (benefit) provision 15.5               21.5 14.4 (4.8)
Impairment loss 4.0       5.0       4.0 5.0  
Tax benefit on share-based compensation               3.2      
Research and development and other tax credits           28.6          
Gain from deconsolidation           $ 4.0       4.0  
Effective Income Tax Rate Reconciliation, Tax Credit, Research, Amount   $ 5.0             11.8 40.8 9.9
Charges $ 8.1               $ 132.0 $ 194.2 $ 88.0
Gain (Loss) On Extinguishment of Debt, Restructuring Charges, And Other Items       $ 10.6              
Foreign Tax Authority                      
Quarterly Financial Information [Line Items]                      
Tax expense (benefit) on valuation allowances on the deferred tax assets of a certain foreign subsidiary             $ 10.4 $ 18.4      
Foreign                      
Quarterly Financial Information [Line Items]                      
Curtailment gain         $ 12.9