Supplemental Equity and Comprehensive Income Information - Shareholder Equity (Details) - USD ($) $ / shares in Units, $ in Millions	3 Months Ended
	Apr. 02, 2022	Apr. 03, 2021	Jan. 01, 2022
Increase (Decrease) in Stockholders' Equity
Common stock issued, $1 par value per share	$ 124.1	$ 124.1	$ 124.1
Beginning balance	1,924.4
Net income	198.2	209.5
Other comprehensive income (loss), net of tax	22.9	$ 3.5
Ending balance	$ 1,932.5
Dividends per common share	$ 0.68	$ 0.62
Capital in excess of par value
Increase (Decrease) in Stockholders' Equity
Beginning balance	$ 862.3	$ 862.1
Issuance of shares under stock-based compensation plans	(17.7)	(16.3)
Ending balance	844.6	845.8
Retained earnings
Increase (Decrease) in Stockholders' Equity
Beginning balance	3,880.7	3,349.3
Net income	198.2	209.5
Issuance of shares under stock-based compensation plans	(5.8)	(7.7)
Contribution of shares to 401(k) Plan	6.3	4.9
Dividends	(56.2)	(51.6)
Ending balance	4,023.2	3,504.4
Treasury stock, at cost
Increase (Decrease) in Stockholders' Equity
Beginning balance	(2,659.8)	(2,501.0)
Repurchase of shares for treasury	(151.5)	(55.6)
Issuance of shares under stock-based compensation plans	9.7	8.6
Contribution of shares to 401(k) Plan	2.2	1.7
Ending balance	(2,799.4)	(2,546.3)
Accumulated other comprehensive loss
Increase (Decrease) in Stockholders' Equity
Beginning balance	(282.9)	(349.6)
Other comprehensive income (loss), net of tax	22.9	3.5
Ending balance	$ (260.0)	$ (346.1)