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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. 02, 2021
Oct. 03, 2020
Oct. 02, 2021
Oct. 03, 2020
Accumulated Other Comprehensive Income (Loss) [Roll Forward]        
Balance at beginning of period $ 4,892.1 $ 3,983.2 $ 4,614.9 $ 4,501.1
Balance at end of period 4,757.5 [1] 4,276.1 4,757.5 [1] 4,276.1
Defined benefit plans:        
Accumulated Other Comprehensive Income (Loss) [Roll Forward]        
Balance at beginning of period (276.3) (211.7) (276.9) (217.6)
Reclassification adjustments 2.0 11.0 6.0 13.1
Other comprehensive income (loss) recognized during the period 2.5 (29.7) (0.9) (25.9)
Balance at end of period (271.8) (230.4) (271.8) (230.4)
Reclassification adjustments, tax expense (benefit) 0.3 0.6 1.0 1.3
Other comprehensive income (loss) recognized during the period, tax (expense) benefit 0.0 5.4 0.0 5.4
Derivative instruments and hedging:        
Accumulated Other Comprehensive Income (Loss) [Roll Forward]        
Balance at beginning of period 20.2 (50.4) 12.6 9.8
Reclassification adjustments (13.9) 3.9 (27.3) 9.2
Other comprehensive income (loss) recognized during the period (14.3) 14.8 6.7 (50.7)
Balance at end of period (8.0) (31.7) (8.0) (31.7)
Reclassification adjustments, tax expense (benefit) (3.6) 0.1 (6.9) 1.8
Other comprehensive income (loss) recognized during the period, tax (expense) benefit 3.5 (6.3) (1.7) 9.6
Foreign currency translation:        
Accumulated Other Comprehensive Income (Loss) [Roll Forward]        
Balance at beginning of period (471.7) (660.9) (440.8) (564.9)
Other comprehensive income (loss) recognized during the period (51.1) 83.3 (82.0) (12.7)
Balance at end of period (522.8) (577.6) (522.8) (577.6)
Other comprehensive income (loss) recognized during the period, tax (expense) benefit (1.4) 2.9 (2.9) 0.7
Accumulated Other Comprehensive Loss, Net of Tax        
Accumulated Other Comprehensive Income (Loss) [Roll Forward]        
Balance at beginning of period (727.8) (923.0) (705.1) (772.7)
Balance at end of period $ (802.6) $ (839.7) $ (802.6) $ (839.7)
[1] Unaudited.