Supplemental Equity and Comprehensive Income Information - Shareholder Equity (Details) - USD ($) $ / shares in Units, $ in Millions	3 Months Ended		6 Months Ended
	Jul. 03, 2021	Jun. 27, 2020	Jul. 03, 2021	Jun. 27, 2020	Jan. 02, 2021
Increase (Decrease) in Stockholders' Equity
Common stock issued, $1 par value per share	$ 124.1	$ 124.1	$ 124.1	$ 124.1	$ 124.1
Beginning balance			1,484.9
Net income	183.8	79.7	393.3	213.9
Other comprehensive income (loss), net of tax	18.5	$ 8.8	22.0	$ (55.1)
Ending balance	$ 1,703.6		$ 1,703.6
Dividends per common share (in dollars per share)	$ 0.68	$ 0.58	$ 1.30	$ 1.16
Capital in excess of par value
Increase (Decrease) in Stockholders' Equity
Beginning balance	$ 845.8	$ 852.5	$ 862.1	$ 874.0
Issuance of shares under stock-based compensation plans	0.7	(12.5)	(15.6)	(34.0)
Ending balance	846.5	840.0	846.5	840.0
Retained earnings
Increase (Decrease) in Stockholders' Equity
Beginning balance	3,504.4	3,064.8	3,349.3	2,979.1
Net income	183.8	79.7	393.3	213.9
Issuance of shares under stock-based compensation plans	0.6	0.9	(7.1)	(3.3)
Contribution of shares to 401(k) Plan	4.9	3.2	9.8	7.3
Dividends	(56.4)	(48.4)	(108.0)	(96.8)
Ending balance	3,637.3	3,100.2	3,637.3	3,100.2
Treasury stock, at cost
Increase (Decrease) in Stockholders' Equity
Beginning balance	(2,546.3)	(2,456.0)	(2,501.0)	(2,425.1)
Repurchase of shares for treasury	(39.4)		(95.0)	(45.2)
Issuance of shares under stock-based compensation plans	7.6	6.6	16.2	18.6
Contribution of shares to 401(k) Plan	1.4	2.2	3.1	4.5
Ending balance	(2,576.7)	(2,447.2)	(2,576.7)	(2,447.2)
Accumulated other comprehensive loss
Increase (Decrease) in Stockholders' Equity
Beginning balance	(346.1)	(412.0)	(349.6)	(348.1)
Other comprehensive income (loss), net of tax	18.5	8.8	22.0	(55.1)
Ending balance	$ (327.6)	$ (403.2)	$ (327.6)	$ (403.2)