Comprehensive Income - Reclassified from AOCI (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jul. 01, 2017	Jul. 02, 2016	Jul. 01, 2017	Jul. 02, 2016
Amounts reclassified from Accumulated other comprehensive loss
Cost of products sold	$ (1,174.3)	$ (1,107.4)	$ (2,304.0)	$ (2,170.3)
Interest expense	(16.2)	(15.4)	(32.9)	(30.7)
Income before taxes	149.5	99.3	285.4	222.8
Provision for income taxes	(28.6)	(19.3)	(52.3)	(53.2)
Net income	120.9	80.0	233.1	169.6
Amounts Reclassified from Accumulated Other Comprehensive Loss
Amounts reclassified from Accumulated other comprehensive loss
Net income	(4.8)	(32.3)	(11.3)	(36.5)
Cash Flow Hedges | Amounts Reclassified from Accumulated Other Comprehensive Loss
Amounts reclassified from Accumulated other comprehensive loss
Income before taxes	0.1	(1.5)	(2.5)	(1.5)
Provision for income taxes		0.4	0.8	0.4
Net income	0.1	(1.1)	(1.7)	(1.1)
Cash Flow Hedges | Amounts Reclassified from Accumulated Other Comprehensive Loss | Foreign exchange contracts
Amounts reclassified from Accumulated other comprehensive loss
Cost of products sold		(1.2)	(0.9)	(0.9)
Cash Flow Hedges | Amounts Reclassified from Accumulated Other Comprehensive Loss | Commodity contracts
Amounts reclassified from Accumulated other comprehensive loss
Cost of products sold	0.1	(0.3)	0.2	(0.6)
Cash Flow Hedges | Amounts Reclassified from Accumulated Other Comprehensive Loss | Interest rate contracts
Amounts reclassified from Accumulated other comprehensive loss
Interest expense			(1.8)
Pension and Other Postretirement Benefits | Amounts Reclassified from Accumulated Other Comprehensive Loss
Amounts reclassified from Accumulated other comprehensive loss
Pension and other postretirement benefits	(7.0)	(47.7)	(13.9)	(53.8)
Provision for income taxes	2.1	16.5	4.3	18.4
Net income	$ (4.9)	$ (31.2)	$ (9.6)	$ (35.4)