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Accumulated Other Comprehensive Income (Loss) - Reclassifications Out of Accumulated OCI (Details) - USD ($)
$ in Millions
3 Months Ended
Apr. 02, 2023
Apr. 03, 2022
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Costs and expenses $ 1,140.8 $ 1,097.5
Total before tax 223.7 203.0
Income tax impact (44.9) 9.6
Total 178.7 212.6
Amount Reclassified from AOCI | Cash Flow Hedges and Other    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Total before tax (9.8) (6.5)
Income tax impact 2.5 1.7
Total (7.3) (4.8)
Amount Reclassified from AOCI | Amortization of prior service cost    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Costs and expenses 0.4 (3.5)
Amount Reclassified from AOCI | Amortization of net actuarial loss    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Costs and expenses (2.4) (2.0)
Amount Reclassified from AOCI | Pension and Postretirement Benefits    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Total before tax 2.0 5.5
Income tax impact (0.5) (1.3)
Total $ 1.5 $ 4.2