Pension Plans - Net Periodic Pension (Benefit) Cost (Details) - Pension Plans, Defined Benefit - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jul. 02, 2022	Jul. 03, 2021	Jul. 02, 2022	Jul. 03, 2021
Defined Benefit Plan Disclosure [Line Items]
Service cost	$ 6.3	$ 6.9	$ 13.4	$ 14.4
Interest cost	11.2	10.5	22.3	21.1
Expected return on plan assets	(25.4)	(23.5)	(49.9)	(47.1)
Amortization of unrecognized loss	4.7	9.1	9.2	18.2
Net periodic postretirement health care cost	$ (3.2)	$ 3.0	$ (5.0)	$ 6.6