Supplemental Equity and Comprehensive Income Information - Shareholder Equity (Details) - USD ($) $ / shares in Units, $ in Millions	3 Months Ended
	Apr. 01, 2023	Apr. 02, 2022	Dec. 31, 2022	Apr. 30, 2022
Increase (Decrease) in Stockholders' Equity
Common stock issued, $1 par value per share	$ 124.1	$ 124.1	$ 124.1
Beginning balance	2,032.2
Net income	121.2	198.2
Other comprehensive income (loss), net of tax	3.0	$ 22.9
Ending balance	$ 2,042.9
Common stock, par value (in dollars per share)	$ 1		$ 1
Dividends per common share	$ 0.75	$ 0.68
Authorized repurchase amount				$ 750.0
Stock repurchase program, remaining authorized repurchase amount	$ 679.7
Capital in excess of par value
Increase (Decrease) in Stockholders' Equity
Beginning balance	879.3	$ 862.3
Issuance of shares under stock-based compensation plans	(28.5)	(17.7)
Ending balance	850.8	844.6
Retained earnings
Increase (Decrease) in Stockholders' Equity
Beginning balance	4,414.6	3,880.7
Net income	121.2	198.2
Issuance of shares under stock-based compensation plans	4.8	(5.8)
Contribution of shares to 401(k) plan	6.6	6.3
Dividends	(60.8)	(56.2)
Ending balance	4,486.4	4,023.2
Treasury stock at cost
Increase (Decrease) in Stockholders' Equity
Beginning balance	(3,021.8)	(2,659.8)
Repurchase of shares for treasury	(50.7)	(151.5)
Issuance of shares under stock-based compensation plans	12.6	9.7
Contribution of shares to 401(k) plan	2.5	2.2
Ending balance	(3,057.4)	(2,799.4)
Accumulated other comprehensive loss
Increase (Decrease) in Stockholders' Equity
Beginning balance	(364.0)	(282.9)
Other comprehensive income (loss), net of tax	3.0	22.9
Ending balance	$ (361.0)	$ (260.0)