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Capital Stock and Earnings Per Share - Narrative (Details) - USD ($)
$ / shares in Units, shares in Millions, $ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2023
Mar. 31, 2023
Jul. 01, 2022
Apr. 01, 2022
Jun. 30, 2023
May 24, 2022
Equity, Class of Treasury Stock [Line Items]            
Authorized repurchase amount           $ 500.0
Stock repurchased $ 32.1 $ 18.4 $ 21.0 $ 257.0    
Remaining authorized repurchase amount $ 378.9       $ 378.9  
Open Market Transactions            
Equity, Class of Treasury Stock [Line Items]            
Stock repurchased (in shares) 1.1       2.0  
Stock repurchased $ 31.9       $ 50.0  
Stock repurchased (in dollars per share) $ 28.55       $ 25.22