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Restructuring and Related Charges - Summary of Costs Incurred and Cumulative Costs By Cost Type (Details) - USD ($) $ in Millions | 3 Months Ended | 6 Months Ended
--- | --- | ---
Apr. 04, 2021 | Mar. 29, 2020 | Apr. 04, 2021 | Mar. 29, 2020
Restructuring Cost and Reserve [Line Items] |  |  |  |
Restructuring and related charges | $ 4.1 | $ 21.9 | $ 13.3 | $ 49.4
Cumulative costs | 136.3 |  | 136.3 |
Estimated future costs to be incurred | 31.6 |  | 31.6 |
Termination Benefits |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Restructuring and related charges | 0.3 | 6.2 | 3.2 | 11.4
Cumulative costs | 23.6 |  | 23.6 |
Estimated future costs to be incurred | 2.0 |  | 2.0 |
Other Costs |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |
Restructuring and related charges | 3.8 | $ 15.7 | 10.1 | $ 38.0
Cumulative costs | 112.7 |  | 112.7 |
Estimated future costs to be incurred | $ 29.6 |  | $ 29.6 |

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