Accumulated Other Comprehensive Income (Loss) - Reclassification from OCI (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jul. 01, 2022	Jul. 02, 2021	Jul. 01, 2022	Jul. 02, 2021
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Other Comprehensive Income (Loss), Cash Flow Hedge, Gain (Loss), before Reclassification, Tax			$ (3.6)	$ (1.6)
Net sales	$ 1,211.9	$ 1,141.6	2,348.9	2,229.9
Cost of products sold	(1,131.2)	(1,031.6)	(2,178.4)	(2,014.8)
Interest expense	(5.8)	(5.2)	(11.1)	(10.6)
Total	21.2	47.2	46.9	89.9
Reclassification out of Accumulated Other Comprehensive Income (Loss) | Cash flow hedges:
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Net sales	(7.8)	0.1	(9.4)	0.7
Cost of products sold	0.9	0.2	4.1	0.6
Interest expense	2.1	2.9	4.9	5.7
Total	(4.8)	1.6	(0.4)	2.8
Reclassification out of Accumulated Other Comprehensive Income (Loss) | Cash flow hedges: | Not Designated as Hedging Instrument [Member]
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Cost of products sold	0.0	(1.6)	0.0	(3.2)
Other expense, net	0.0	0.0	0.0	(1.0)
Reclassification out of Accumulated Other Comprehensive Income (Loss) | Amortization of retirement benefits:
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Other expense, net	0.2	0.3	0.4	0.5
Total	$ 0.2	$ 0.3	$ 0.4	$ 0.5