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Pension and Other Postretirement Benefit Plans - Summary of Components of Net Periodic Benefit (Credit) Costs (Details) - USD ($)
$ in Millions
 3 Months Ended 9 Months Ended
Sep. 28, 2024
Sep. 30, 2023
Sep. 28, 2024
Sep. 30, 2023
Pension | U.S.        
Defined Benefit Plan, Net Periodic Benefit Cost (Credit)        
Service cost $ 0.0 $ 0.0 $ 0.0 $ 0.0
Interest cost 5.1 5.2 15.3 15.6
Expected return on plan assets (5.4) (5.0) (16.1) (15.2)
Amortization of actuarial gain (loss) 0.3 0.2 0.7 0.7
Settlement gain 0.0 0.0 (0.1) (0.1)
Net periodic benefit (credit) cost 0.0 0.4 (0.2) 1.0
Pension | Foreign        
Defined Benefit Plan, Net Periodic Benefit Cost (Credit)        
Service cost 1.0 0.8 3.0 2.4
Interest cost 3.9 4.3 11.7 12.6
Expected return on plan assets (3.7) (4.1) (11.1) (12.2)
Amortization of actuarial gain (loss) 0.5 0.4 1.5 1.4
Settlement gain 0.0 0.0 0.0 0.0
Net periodic benefit (credit) cost 1.7 1.4 5.1 4.2
Other Postretirement | U.S.        
Defined Benefit Plan, Net Periodic Benefit Cost (Credit)        
Interest cost 0.4 0.3 1.1 1.1
Amortization of actuarial gain (loss) (0.8) (0.8) (2.3) (2.5)
Amortization of prior service credit 0.0 0.0 (0.1) (0.1)
Net periodic benefit (credit) cost (0.4) (0.5) (1.3) (1.5)
Other Postretirement | Foreign        
Defined Benefit Plan, Net Periodic Benefit Cost (Credit)        
Interest cost 0.1 0.2 0.5 0.7
Amortization of actuarial gain (loss) 0.0 0.0 (0.2) (0.1)
Amortization of prior service credit 0.0 0.0 0.0 0.0
Net periodic benefit (credit) cost $ 0.1 $ 0.2 $ 0.3 $ 0.6