Debt - ST Debt (Details) - USD ($) $ in Thousands	3 Months Ended
	Apr. 01, 2023	Apr. 02, 2022	Dec. 31, 2022
Short-term Debt [Line Items]
Debt, Current	$ 144,264		$ 589,883
Other short-term borrowings	$ 24,284		$ 38,581
Short-term Debt, Weighted Average Interest Rate, at Point in Time	3.84%		1.98%
Interest Rate Swap [Member] | Fair Value Hedging
Short-term Debt [Line Items]
Derivative, Variable Interest Rate	50.80%
Borrowings on lines of credit
Short-term Debt [Line Items]
Line of Credit, Current	$ 0		$ 78,000
Short-term Debt, Weighted Average Interest Rate, at Point in Time	5.41%		5.22%
Line of Credit Facility, Maximum Borrowing Capacity	$ 200,000
Commercial paper
Short-term Debt [Line Items]
Short-term Debt, Weighted Average Interest Rate, at Point in Time	5.90%		5.15%
Line of Credit Facility, Maximum Borrowing Capacity	$ 119,980		$ 173,407
Line of Credit Facility, Maximum Borrowing Capacity	1,200,000
4.50% notes, due 2023
Short-term Debt [Line Items]
Debt, Current	0		$ 299,895
Repayments of Senior Debt	$ 300,000
3.50% notes, due April 2022
Short-term Debt [Line Items]
Repayments of Senior Debt		$ 350,000
4.50% notes, due 2023
Short-term Debt [Line Items]
Debt Instrument, Interest Rate, Stated Percentage	4.50%
3.50% notes, due April 2022
Short-term Debt [Line Items]
Debt Instrument, Interest Rate, Stated Percentage			3.50%