Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Millions	Dec. 31, 2022	Jan. 01, 2022
Statement of Financial Position [Abstract]
Trade accounts receivable, allowances	$ 34.4	$ 33.0
Common stock, par value (in dollars per share)	$ 1	$ 1
Common stock, authorized shares (in shares)	400,000,000	400,000,000
Common stock, issued shares (in shares)	124,126,624	124,126,624
Common stock, outstanding shares (in shares)	80,810,016	82,605,953
Treasury stock, shares (in shares)	43,316,608	41,520,671