Supplemental Equity and Comprehensive Income Information - Schedule of Consolidated Changes in Shareholders' Equity (Details) - USD ($) $ / shares in Units, $ in Millions	3 Months Ended		6 Months Ended
	Jun. 28, 2025	Jun. 29, 2024	Jun. 28, 2025	Jun. 29, 2024	Dec. 28, 2024
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			2,312.3
Net income	189.0	176.8	355.3	349.2
Other comprehensive income (loss), net of tax	(0.8)	$ (15.7)	6.1	$ (29.6)
Ending balance	$ 2,201.6		$ 2,201.6
Dividends per common share	$ 0.94	$ 0.88	$ 1.82	$ 1.69
Capital in excess of par value
Increase (Decrease) in Stockholders' Equity
Beginning balance	$ 817.7	$ 834.0	$ 840.6	$ 854.5
Issuance of shares under stock-based compensation plans	4.2	(0.9)	(18.7)	(21.4)
Ending balance	821.9	833.1	821.9	833.1
Retained earnings
Increase (Decrease) in Stockholders' Equity
Beginning balance	5,276.5	4,809.1	5,151.2	4,691.8
Issuance of shares under stock-based compensation plans	1.5	0.9	12.7	4.1
Net income	189.0	176.8	355.3	349.2
Contribution of shares to 401(k) plan	5.8	6.3	12.8	13.3
Dividends	(73.5)	(70.9)	(142.9)	(136.2)
Ending balance	5,399.3	4,922.2	5,399.3	4,922.2
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	(3,598.6)	(3,141.2)	(3,347.5)	(3,134.4)
Issuance of shares under stock-based compensation plans	0.6	9.8	8.3	16.3
Contribution of shares to 401(k) plan	2.7	1.9	5.5	4.2
Repurchase of shares for treasury	(98.4)	(25.1)	(360.0)	(40.7)
Ending balance	(3,693.7)	(3,154.6)	(3,693.7)	(3,154.6)
Accumulated other comprehensive loss
Increase (Decrease) in Stockholders' Equity
Beginning balance	(449.2)	(422.0)	(456.1)	(408.1)
Other comprehensive income (loss), net of tax	(0.8)	(15.7)	6.1	(29.6)
Ending balance	$ (450.0)	$ (437.7)	$ (450.0)	$ (437.7)