Accumulated Other Comprehensive Income (Loss) - Reclassifications Out of Accumulated OCI (Details) - USD ($) $ in Millions	3 Months Ended						9 Months Ended
	Oct. 01, 2023	Jul. 02, 2023	Apr. 02, 2023	Oct. 02, 2022	Jul. 03, 2022	Apr. 03, 2022	Oct. 01, 2023	Oct. 02, 2022
Accumulated Other Comprehensive Income (Loss) [Line Items]
Costs and expenses	$ 1,138.2			$ 1,118.4			$ 3,447.6	$ 3,342.2
Total before tax	(246.1)			(231.3)			(704.7)	(655.8)
Income tax impact	47.3			53.1			141.6	93.7
Total	(198.6)	$ (185.3)	$ (178.7)	(178.3)	$ (171.3)	$ (212.6)	(562.6)	(562.2)
Amount Reclassified from AOCI | Cash Flow Hedges and Other
Accumulated Other Comprehensive Income (Loss) [Line Items]
Total before tax	(4.6)			(18.5)			(16.2)	(40.5)
Income tax impact	1.1			4.6			4.0	10.1
Total	(3.5)			(13.9)			(12.2)	(30.4)
Amount Reclassified from AOCI | Amortization of prior service cost
Accumulated Other Comprehensive Income (Loss) [Line Items]
Costs and expenses	(0.4)			(0.4)			(1.3)	(1.2)
Amount Reclassified from AOCI | Amortization of net actuarial loss
Accumulated Other Comprehensive Income (Loss) [Line Items]
Costs and expenses	2.7			5.8			7.0	17.4
Amount Reclassified from AOCI | Pension and Postretirement Benefits
Accumulated Other Comprehensive Income (Loss) [Line Items]
Total before tax	2.3			5.4			5.7	16.2
Income tax impact	(0.5)			(1.3)			(1.5)	(3.9)
Total	$ 1.8			$ 4.1			$ 4.2	$ 12.3