Supplemental Equity and Comprehensive Income Information - Consolidated Statements of Shareholders' Equity (Details) - USD ($) $ / shares in Units, $ in Millions	3 Months Ended		9 Months Ended
	Sep. 26, 2020	Sep. 28, 2019	Sep. 26, 2020	Sep. 28, 2019	Dec. 28, 2019
Increase (Decrease) in Stockholders' Equity
Common stock issued, $1 par value per share	$ 124.1	$ 124.1	$ 124.1	$ 124.1	$ 124.1
Common stock, par value (in dollars per share)	$ 1		$ 1		$ 1
Beginning balance			$ 1,204.0
Net income	$ 150.5	144.6	364.4	141.1
Other comprehensive income (loss), net of tax	9.3	$ (29.5)	(45.8)	$ 282.7
Ending balance	$ 1,334.6		$ 1,334.6
Dividends per common shares
Dividends per common share (in dollars per share)	$ 0.58	$ 0.58	$ 1.74	$ 1.68
Capital in excess of par value
Increase (Decrease) in Stockholders' Equity
Beginning balance	$ 840.0	$ 857.7	$ 874.0	$ 872.0
Issuance of shares under stock-based compensation plans	10.3	7.1	(23.7)	(7.2)
Ending balance	850.3	864.8	850.3	864.8
Retained earnings
Increase (Decrease) in Stockholders' Equity
Beginning balance	3,100.2	2,762.3	2,979.1	2,864.9
Net income	150.5	144.6	364.4	141.1
Issuance of shares under stock-based compensation plans			(3.3)	(13.4)
Contribution of shares to 401(k) Plan	3.2	3.4	10.5	10.4
Dividends	(48.4)	(48.6)	(145.2)	(141.3)
Ending balance	3,205.5	2,861.7	3,205.5	2,861.7
Treasury stock, at cost
Increase (Decrease) in Stockholders' Equity
Beginning balance	(2,447.2)	(2,311.8)	(2,425.1)	(2,223.9)
Repurchase of shares for treasury	(7.0)	(87.7)	(52.2)	(204.3)
Issuance of shares under stock-based compensation plans	0.9	3.5	19.5	27.6
Contribution of shares to 401(k) Plan	1.9	2.1	6.4	6.7
Ending balance	(2,451.4)	(2,393.9)	(2,451.4)	(2,393.9)
Accumulated other comprehensive loss
Increase (Decrease) in Stockholders' Equity
Beginning balance	(403.2)	(369.8)	(348.1)	(682.0)
Other comprehensive income (loss), net of tax	9.3	(29.5)	(45.8)	282.7
Ending balance	$ (393.9)	$ (399.3)	$ (393.9)	$ (399.3)