Accumulated Other Comprehensive Income (Loss) - Reclassifications Out of Accumulated OCI (Details) - USD ($) $ in Millions	3 Months Ended				6 Months Ended
	Jul. 02, 2023	Apr. 02, 2023	Jul. 03, 2022	Apr. 03, 2022	Jul. 02, 2023	Jul. 03, 2022
Accumulated Other Comprehensive Income (Loss) [Line Items]
Costs and expenses	$ (1,168.6)		$ (1,126.3)		$ (2,309.4)	$ (2,223.8)
Total before tax	234.9		221.5		458.6	424.5
Income tax impact	(49.4)		(50.2)		(94.3)	(40.6)
Total	185.3	$ 178.7	171.3	$ 212.6	364.0	383.9
Amount Reclassified from AOCI | Cash Flow Hedges and Other
Accumulated Other Comprehensive Income (Loss) [Line Items]
Total before tax	(1.8)		(15.6)		(11.6)	(22.0)
Income tax impact	0.4		3.9		2.9	5.5
Total	(1.4)		(11.7)		(8.7)	(16.5)
Amount Reclassified from AOCI | Amortization of prior service cost
Accumulated Other Comprehensive Income (Loss) [Line Items]
Costs and expenses	(0.4)		(0.4)		(0.9)	(0.8)
Amount Reclassified from AOCI | Amortization of net actuarial loss
Accumulated Other Comprehensive Income (Loss) [Line Items]
Costs and expenses	1.8		5.7		4.3	11.6
Amount Reclassified from AOCI | Pension and Postretirement Benefits
Accumulated Other Comprehensive Income (Loss) [Line Items]
Total before tax	1.4		5.3		3.4	10.8
Income tax impact	(0.5)		(1.3)		(1.0)	(2.6)
Total	$ 0.9		$ 4.0		$ 2.4	$ 8.2