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Pension Plans - Schedule of Net Benefit Costs (Details) - USD ($)
$ in Millions
 3 Months Ended 6 Months Ended
Jun. 30, 2019
Jul. 01, 2018
Jun. 30, 2019
Jul. 01, 2018
Retirement Benefits [Abstract]        
Interest cost $ 2.7 $ 2.6 $ 5.4 $ 5.3
Expected return on plan assets (3.7) (4.2) (7.5) (8.6)
Amortization of net actuarial loss 0.7 0.7 1.4 1.3
Amortization of prior service credit (0.1) (0.1) (0.2) (0.2)
Net periodic benefit credit (0.4) (1.0) (0.9) (2.2)
Total charge for defined contribution plans 1.2 1.2 2.4 2.6
Total charge for pension plans $ 0.8 $ 0.2 $ 1.5 $ 0.4