Pension Plans and Postretirement Benefits (Details) - Pension Plan - USD ($) $ in Millions	3 Months Ended
	Apr. 04, 2021	Mar. 29, 2020
Components of net period pension benefit expense
Service cost — benefits earned during the period	$ 2.7	$ 2.6
Interest cost on benefit obligation	5.6	6.9
Expected return on plan assets	(14.3)	(14.3)
Amortization of prior service cost	(0.8)	(1.5)
Amortization of net actuarial loss	6.7	5.7
Curtailment/settlements	0.0	0.7
Pension non-service income	$ (2.8)	$ (2.5)