Supplemental Equity and Comprehensive Income Information - Schedule of Consolidated Statements of Shareholders' Equity (Details) - USD ($) $ / shares in Units, $ in Millions	3 Months Ended
	Mar. 30, 2024	Apr. 01, 2023	Dec. 30, 2023
Changes In Stockholders' Equity [Line Items]
Common stock, par value (in dollars per share)	$ 1	$ 1	$ 1
Common stock issued, $1 par value per share	$ 124.1	$ 124.1	$ 124.1
Increase (Decrease) in Stockholders' Equity
Beginning balance	2,127.9
Net income	172.4	121.2
Other comprehensive income (loss), net of tax	(13.9)	$ 3.0
Ending balance	$ 2,204.0
Dividends per common share	$ 0.81	$ 0.75
Capital in excess of par value
Increase (Decrease) in Stockholders' Equity
Beginning balance	$ 854.5	$ 879.3
Issuance of shares under stock-based compensation plans	(20.5)	(28.5)
Ending balance	834.0	850.8
Retained earnings
Increase (Decrease) in Stockholders' Equity
Beginning balance	4,691.8	4,414.6
Issuance of shares under stock-based compensation plans	3.2	4.8
Net income	172.4	121.2
Contribution of shares to 401(k) plan	7.0	6.6
Dividends	(65.3)	(60.8)
Ending balance	4,809.1	4,486.4
Treasury stock at cost
Increase (Decrease) in Stockholders' Equity
Beginning balance	(3,134.4)	(3,021.8)
Issuance of shares under stock-based compensation plans	6.5	12.6
Repurchase of shares for treasury	(15.6)	(50.7)
Contribution of shares to 401(k) plan	2.3	2.5
Ending balance	(3,141.2)	(3,057.4)
Accumulated other comprehensive loss
Increase (Decrease) in Stockholders' Equity
Beginning balance	(408.1)	(364.0)
Other comprehensive income (loss), net of tax	(13.9)	3.0
Ending balance	$ (422.0)	$ (361.0)