Quarterly Data - Unaudited (Details) - USD ($) $ / shares in Units, $ in Millions	3 Months Ended								12 Months Ended
	Dec. 31, 2021	Oct. 01, 2021	Jul. 02, 2021	Apr. 02, 2021	Dec. 31, 2020	Sep. 25, 2020	Jun. 26, 2020	Mar. 27, 2020	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Disaggregation of Revenue [Line Items]
Total sales	$ 1,374.8	$ 1,301.0	$ 1,319.7	$ 1,259.2	$ 1,324.9	$ 1,159.8	$ 1,041.6	$ 1,108.1	$ 5,254.7	$ 4,634.4	$ 4,563.9
Gross profit	794.0	745.7	755.5	711.9	762.1	651.6	582.8	612.0	3,007.1	2,608.5	2,483.2
Operating profit	201.6	202.3	211.3	197.6	183.9	137.5	102.6	115.4	812.8	539.4	443.9
Earnings from continuing operations, net of income taxes	167.9	152.6	182.0	111.7	1,251.6	86.0	59.8	54.8	614.2	1,452.2	268.1
Earnings (loss) from discontinued operations, net of income taxes	(2.9)	(0.3)	(1.1)	(1.5)	(36.0)	139.8	70.2	(12.9)	(5.8)	161.1	470.8
Net earnings	$ 165.0	$ 152.3	$ 180.9	$ 110.2	$ 1,215.6	$ 225.8	$ 130.0	$ 41.9	$ 608.4	$ 1,613.3	$ 738.9
Earnings per common share - basic:
Earnings per common share from continuing operations, basic (in dollars per share)	$ 0.47	$ 0.42	$ 0.49	$ 0.28	$ 3.65	$ 0.20	$ 0.13	$ 0.11	$ 1.66	$ 4.10	$ 0.59
Earnings per common share from discontinued operations, basic (in dollars per share)	(0.01)	0	0	0	(0.11)	0.42	0.20	(0.04)	(0.02)	0.48	1.40
Net earnings per common share, basic (in dollars per share)	0.46	0.42	0.48	0.27	3.55	0.62	0.33	0.07	1.64	4.58	1.99
Earnings per common share - diluted:
Net earnings per common share from continuing operations, diluted (in dollars per share)	0.46	0.42	0.48	0.28	3.47	0.20	0.13	0.11	1.65	4.05	0.59
Earnings per common share from discontinued operations, diluted (in dollars per share)	(0.01)	0	0	0	(0.10)	0.41	0.20	(0.04)	(0.02)	0.45	1.38
Net earnings per common share, diluted (in dollars per share)	$ 0.44	$ 0.42	$ 0.48	$ 0.27	$ 3.37	$ 0.61	$ 0.33	$ 0.07	$ 1.63	$ 4.49	$ 1.97
Contract liabilities, revenue recognized									$ 307.0
Cumulative Effect, Period of Adoption, Adjustment
Earnings per common share - diluted:
Contract liabilities, revenue recognized		$ 1.5							$ 1.5