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Pension and Other Postretirement Benefit Plans - Components of Net Periodic Benefit (Credit) Costs (Details) - USD ($)
$ in Millions
 3 Months Ended 6 Months Ended
Jul. 03, 2021
Jul. 04, 2020
Jul. 03, 2021
Jul. 04, 2020
Pension | 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 3.6 4.1 7.2 8.2
Expected return on plan assets (5.9) (5.3) (11.8) (10.6)
Amortization of actuarial gain (loss) 0.9 0.5 1.9 1.1
Settlement loss 0.0 0.0 0.4 0.3
Net periodic benefit (credit) cost (1.4) (0.7) (2.3) (1.0)
Pension | Foreign        
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]        
Service cost 1.4 1.2 2.7 2.4
Interest cost 2.7 3.0 5.3 6.1
Expected return on plan assets (5.0) (4.9) (9.8) (9.9)
Amortization of actuarial gain (loss) 1.6 1.2 3.1 2.3
Settlement loss 0.0 0.0 0.0 0.0
Net periodic benefit (credit) cost 0.7 0.5 1.3 0.9
Other Postretirement | U.S.        
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]        
Interest cost 0.4 0.4 0.7 0.8
Amortization of actuarial gain (loss) (0.3) (0.4) (0.6) (0.8)
Amortization of prior service credit (0.1) (0.1) (0.1) (0.1)
Net periodic benefit (credit) cost 0.0 (0.1) 0.0 (0.1)
Other Postretirement | Foreign        
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]        
Interest cost 0.2 0.2 0.4 0.4
Amortization of actuarial gain (loss) 0.0 0.0 0.0 0.0
Amortization of prior service credit 0.0 0.0 0.0 0.0
Net periodic benefit (credit) cost $ 0.2 $ 0.2 $ 0.4 $ 0.4