Supplemental Equity and Comprehensive Income Information - Schedule of Consolidated Statements of Shareholders' Equity (Details) - USD ($) $ / shares in Units, $ in Millions	3 Months Ended
	Mar. 29, 2025	Mar. 30, 2024	Dec. 28, 2024
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	2,312.3
Net income	166.3	172.4
Other comprehensive income (loss), net of tax	6.9	$ (13.9)
Ending balance	$ 2,170.5
Dividends per common share	$ 0.88	$ 0.81
Capital in excess of par value
Increase (Decrease) in Stockholders' Equity
Beginning balance	$ 840.6	$ 854.5
Issuance of shares under stock-based compensation plans	(22.9)	(20.5)
Ending balance	817.7	834.0
Retained earnings
Increase (Decrease) in Stockholders' Equity
Beginning balance	5,151.2	4,691.8
Issuance of shares under stock-based compensation plans	11.2	3.2
Net income	166.3	172.4
Contribution of shares to 401(k) plan	7.0	7.0
Dividends	(69.4)	(65.3)
Ending balance	5,276.5	4,809.1
Retained earnings | Cumulative Effect, Period of Adoption, Adjustment
Increase (Decrease) in Stockholders' Equity
Beginning balance	10.2
Treasury stock at cost
Increase (Decrease) in Stockholders' Equity
Beginning balance	(3,347.5)	(3,134.4)
Issuance of shares under stock-based compensation plans	7.7	6.5
Contribution of shares to 401(k) plan	2.8	2.3
Repurchase of shares for treasury	(261.6)	(15.6)
Ending balance	(3,598.6)	(3,141.2)
Accumulated other comprehensive loss
Increase (Decrease) in Stockholders' Equity
Beginning balance	(456.1)	(408.1)
Other comprehensive income (loss), net of tax	6.9	(13.9)
Ending balance	$ (449.2)	$ (422.0)