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Derivative Financial Instruments - Effect on Income (Details) - USD ($) $ in Millions | 3 Months Ended | 9 Months Ended
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Sep. 29, 2023 | Sep. 30, 2022 | Sep. 29, 2023 | Sep. 30, 2022
Derivative Instruments, Gain (Loss) [Line Items] |  |  |  |
Net amount of gain (loss) recognized in other comprehensive income (loss) on derivatives | $ 4.8 | $ 11.6 | $ 9.1 | $ 56.0
Foreign exchange contracts |  |  |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |  |  |
Net amount of gain (loss) recognized in other comprehensive income (loss) on derivatives | 2.5 | (2.6) | 7.0 | 17.2
Interest rate swaps, net of tax |  |  |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |  |  |
Net amount of gain (loss) recognized in other comprehensive income (loss) on derivatives | $ 2.3 | $ 14.2 | $ 2.1 | $ 38.8

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