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Pension Plans (Tables)
3 Months Ended
Apr. 02, 2023
Retirement Benefits [Abstract]  
Schedule of Defined Benefit Pension Plans and Postretirement Benefit Plans
 First Quarter
20232022
Service cost — benefits earned during the period (in millions)$1.5 $2.2 
Pension non-service cost (income) (in millions):
Interest cost on benefit obligation$8.4 $5.9 
Expected return on plan assets(13.6)(14.0)
Amortization of net prior service cost(0.5)(0.5)
Amortization of net actuarial loss2.4 5.8 
Pension non-service cost (income)$(3.3)$(2.8)