Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Millions	Jun. 30, 2024	Dec. 31, 2023	Jul. 02, 2023
Statement of Financial Position [Abstract]
Restricted cash	$ 0.3	$ 0.6	$ 4.9
Property, plant and equipment, accumulated depreciation	635.5	618.9	643.4
Other intangibles, accumulated amortization	$ 1,331.7	$ 1,296.9	$ 1,259.3
Preference stock, par value (in dollars per share)	$ 2.50	$ 2.50	$ 2.50
Preference stock, authorized (in shares)	5,000,000	5,000,000	5,000,000
Preference stock, issued (in shares)	0	0	0
Common stock, par value (in dollars per share)	$ 0.50	$ 0.50	$ 0.50
Common stock, authorized (in shares)	600,000,000	600,000,000	600,000,000
Common stock, issued (in shares)	220,286,736	220,286,736	220,286,736
Treasury stock (in shares)	80,905,996	81,498,181	81,568,249