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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. 02, 2022
Jul. 03, 2021
Jul. 02, 2022
Jul. 03, 2021
Pension | U.S.        
Defined Benefit Plan, Net Periodic Benefit Cost (Credit)        
Service cost $ 0.0 $ 0.0 $ 0.0 $ 0.0
Interest cost 3.8 3.6 7.7 7.2
Expected return on plan assets (5.9) (5.9) (11.9) (11.8)
Amortization of actuarial loss 0.5 0.9 1.0 1.9
Settlement loss 0.0 0.0 0.4 0.4
Net periodic benefit cost (1.6) (1.4) (2.8) (2.3)
Pension | Foreign        
Defined Benefit Plan, Net Periodic Benefit Cost (Credit)        
Service cost 1.1 1.4 2.1 2.7
Interest cost 2.9 2.7 5.8 5.3
Expected return on plan assets (4.4) (5.0) (8.8) (9.8)
Amortization of actuarial loss 1.0 1.6 2.1 3.1
Settlement loss 0.0 0.0 0.0 0.0
Net periodic benefit cost 0.6 0.7 1.2 1.3
Other Postretirement | U.S.        
Defined Benefit Plan, Net Periodic Benefit Cost (Credit)        
Interest cost 0.4 0.4 0.8 0.7
Amortization of actuarial loss (0.3) (0.3) (0.6) (0.6)
Amortization of prior service credit (0.1) (0.1) (0.1) (0.1)
Net periodic benefit cost 0.0 0.0 0.1 0.0
Other Postretirement | Foreign        
Defined Benefit Plan, Net Periodic Benefit Cost (Credit)        
Interest cost 0.2 0.2 0.4 0.4
Amortization of actuarial 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 cost $ 0.2 $ 0.2 $ 0.4 $ 0.4