Changes in Accumulated Other Comprehensive Loss - Reclassifications from Accumulated Other Comprehensive Loss (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2023	Apr. 01, 2022
Accumulated Other Comprehensive Income (Loss) [Line Items]
Interest rate swaps terminations	$ 4.7	$ 2.1
Net income	462.2	531.0
Interest rate swaps
Accumulated Other Comprehensive Income (Loss) [Line Items]
Net income	(11.9)	0.7
Effects of Cash Flow Hedges and Other Adjustments | Interest rate swaps
Accumulated Other Comprehensive Income (Loss) [Line Items]
Interest rate swaps	(5.0)	0.7
Interest rate swaps terminations	$ (6.9)	$ 0.0