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Pension Plans (Tables)
6 Months Ended
Jul. 02, 2023
Retirement Benefits [Abstract]  
Schedule of Defined Benefit Pension Plans and Postretirement Benefit Plans
 Second QuarterSix Months
2023202220232022
Service cost — benefits earned during the period (in millions)$1.5 $2.1 $3.0 $4.3 
Pension non-service cost (income) (in millions):
Interest cost on benefit obligation$8.4 $5.9 $16.8 $11.8 
Expected return on plan assets(13.5)(14.1)(27.1)(28.1)
Amortization of net prior service cost(0.4)(0.4)(0.9)(0.9)
Amortization of net actuarial loss2.6 5.7 5.0 11.5 
Pension non-service cost (income)$(2.9)$(2.9)$(6.2)$(5.7)