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Income Taxes - Tax Benefits (Expense) (Details) - USD ($)
$ in Millions
6 Months Ended
Jul. 03, 2021
Jul. 04, 2020
Income Tax Disclosure [Abstract]    
Restructuring charges and various other items $ 13.4 $ 29.6
Valuation allowances on deferred tax assets 6.7 (22.0)
Release of tax reserves 6.5 1.3
Favorable indirect tax ruling in a foreign jurisdiction (16.0) 0.0
Income tax benefits (expense) related to significant discrete items $ 10.6 $ 8.9