Accumulated Other Comprehensive Income (Loss) - Schedule of Reclassification out of Accumulated Other Comprehensive Income (Details) - USD ($) $ in Millions	3 Months Ended				6 Months Ended
	Jun. 30, 2024	Mar. 31, 2024	Jul. 02, 2023	Apr. 02, 2023	Jun. 30, 2024	Jul. 02, 2023
Accumulated Other Comprehensive Income (Loss) [Line Items]
Costs and expenses	$ 1,127.1		$ 1,168.6		$ 2,242.9	$ 2,309.4
Total before tax	(231.7)		(234.9)		(457.2)	(458.6)
Income tax impact	51.4		49.4		97.8	94.3
Total	(180.2)	$ (178.5)	(185.3)	$ (178.7)	(358.7)	(364.0)
Amount Reclassified from AOCI | Cash Flow Hedges and Other
Accumulated Other Comprehensive Income (Loss) [Line Items]
Total before tax	(0.4)		(1.8)		(9.7)	(11.6)
Income tax impact	0.1		0.4		2.5	2.9
Total	(0.3)		(1.4)		(7.2)	(8.7)
Amount Reclassified from AOCI | Pension and Postretirement Benefits
Accumulated Other Comprehensive Income (Loss) [Line Items]
Total before tax	2.8		1.4		5.6	3.4
Income tax impact	(0.7)		(0.5)		(1.4)	(1.0)
Total	2.1		0.9		4.2	2.4
Amount Reclassified from AOCI | Amortization of prior service cost
Accumulated Other Comprehensive Income (Loss) [Line Items]
Costs and expenses	(0.1)		(0.4)		(0.2)	(0.9)
Amount Reclassified from AOCI | Amortization of net actuarial loss
Accumulated Other Comprehensive Income (Loss) [Line Items]
Costs and expenses	$ 2.9		$ 1.8		$ 5.8	$ 4.3