Supplemental Equity and Comprehensive Income Information - Shareholder Equity (Details) - USD ($) $ / shares in Units, $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Oct. 01, 2022	Sep. 30, 2023	Oct. 01, 2022	Dec. 31, 2022	Apr. 30, 2022
Changes In Stockholders' Equity [Line Items]
Common stock, par value (in dollars per share)	$ 1	$ 1	$ 1	$ 1	$ 1
Common stock issued, $1 par value per share	$ 124.1	$ 124.1	$ 124.1	$ 124.1	$ 124.1
Increase (Decrease) in Stockholders' Equity
Beginning balance			2,032.2
Net income	138.3	221.5	359.9	634.2
Other comprehensive income (loss), net of tax	(9.4)	$ (56.9)	(38.6)	$ (85.1)
Ending balance	$ 2,063.6		$ 2,063.6
Dividends per common share	$ 0.81	$ 0.75	$ 2.37	$ 2.18
Authorized repurchase amount						$ 750.0
Stock repurchase program, remaining authorized repurchase amount	$ 613.2		$ 613.2
Capital in excess of par value
Increase (Decrease) in Stockholders' Equity
Beginning balance	851.3	$ 855.9	879.3	$ 862.3
Issuance of shares under stock-based compensation plans	1.2	10.6	(26.8)	4.2
Ending balance	852.5	866.5	852.5	866.5
Retained earnings
Increase (Decrease) in Stockholders' Equity
Beginning balance	4,526.9	4,182.0	4,414.6	3,880.7
Net income	138.3	221.5	359.9	634.2
Issuance of shares under stock-based compensation plans	3.0	0.3	8.6	(4.6)
Contribution of shares to 401(k) plan	5.3	4.1	16.6	15.0
Dividends	(65.3)	(60.9)	(191.5)	(178.3)
Ending balance	4,608.2	4,347.0	4,608.2	4,347.0
Treasury stock at cost
Increase (Decrease) in Stockholders' Equity
Beginning balance	(3,093.9)	(2,914.0)	(3,021.8)	(2,659.8)
Repurchase of shares for treasury	(27.6)	(49.9)	(117.1)	(318.6)
Issuance of shares under stock-based compensation plans	0.9	0.1	13.9	10.5
Contribution of shares to 401(k) plan	2.0	1.5	6.4	5.6
Ending balance	(3,118.6)	(2,962.3)	(3,118.6)	(2,962.3)
Accumulated other comprehensive loss
Increase (Decrease) in Stockholders' Equity
Beginning balance	(393.2)	(311.1)	(364.0)	(282.9)
Other comprehensive income (loss), net of tax	(9.4)	(56.9)	(38.6)	(85.1)
Ending balance	$ (402.6)	$ (368.0)	$ (402.6)	$ (368.0)