Supplemental Equity and Comprehensive Income Information - Shareholder Equity (Details) - USD ($) $ / shares in Units, $ in Millions	3 Months Ended		6 Months Ended
	Jul. 02, 2022	Jul. 03, 2021	Jul. 02, 2022	Jul. 03, 2021	Apr. 30, 2022	Jan. 01, 2022
Increase (Decrease) in Stockholders' Equity
Common stock issued, $1 par value per share	$ 124.1	$ 124.1	$ 124.1	$ 124.1		$ 124.1
Beginning balance			1,924.4
Net income	214.5	183.8	412.7	393.3
Other comprehensive income (loss), net of tax	(51.1)	$ 18.5	(28.2)	$ 22.0
Ending balance	$ 1,936.9		$ 1,936.9
Dividends per common share	$ 0.75	$ 0.68	$ 1.43	$ 1.30
Common stock, par value (in dollars per share)	$ 1		$ 1			$ 1
Authorized repurchase amount					$ 750.0
Stock repurchase program, remaining authorized repurchase amount	$ 840.8		$ 840.8
Capital in excess of par value
Increase (Decrease) in Stockholders' Equity
Beginning balance	844.6	$ 845.8	862.3	$ 862.1
Issuance of shares under stock-based compensation plans	11.3	0.7	(6.4)	(15.6)
Ending balance	855.9	846.5	855.9	846.5
Retained earnings
Increase (Decrease) in Stockholders' Equity
Beginning balance	4,023.2	3,504.4	3,880.7	3,349.3
Net income	214.5	183.8	412.7	393.3
Issuance of shares under stock-based compensation plans	0.9	0.6	(4.9)	(7.1)
Contribution of shares to 401(k) Plan	4.6	4.9	10.9	9.8
Dividends	(61.2)	(56.4)	(117.4)	(108.0)
Ending balance	4,182.0	3,637.3	4,182.0	3,637.3
Treasury stock at cost
Increase (Decrease) in Stockholders' Equity
Beginning balance	(2,799.4)	(2,546.3)	(2,659.8)	(2,501.0)
Repurchase of shares for treasury	(117.2)	(39.4)	(268.7)	(95.0)
Issuance of shares under stock-based compensation plans	0.7	7.6	10.4	16.2
Contribution of shares to 401(k) Plan	1.9	1.4	4.1	3.1
Ending balance	(2,914.0)	(2,576.7)	(2,914.0)	(2,576.7)
Accumulated other comprehensive loss
Increase (Decrease) in Stockholders' Equity
Beginning balance	(260.0)	(346.1)	(282.9)	(349.6)
Other comprehensive income (loss), net of tax	(51.1)	18.5	(28.2)	22.0
Ending balance	$ (311.1)	$ (327.6)	$ (311.1)	$ (327.6)