Pension Plans and Postretirement Benefits (Details) - USD ($) $ in Millions	3 Months Ended
	Apr. 02, 2017	Apr. 03, 2016
Pension Plan
Components of net period pension benefit expense
Service cost — benefits earned during the period	$ 2.6	$ 2.8
Interest cost on benefit obligation	9.2	10.1
Expected return on plan assets	(18.3)	(18.7)
Amortization of prior service cost	(1.5)	(1.5)
Amortization of net actuarial loss (gain)	7.3	6.8
Net periodic (income) expense	(0.7)	(0.5)
Other Postretirement Benefit Plan
Components of net period pension benefit expense
Interest cost on benefit obligation	0.1	0.1
Amortization of net actuarial loss (gain)	(0.1)	(0.1)
Net periodic (income) expense	$ 0.0	$ 0.0