Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Millions	Mar. 31, 2024	Dec. 31, 2023	Apr. 02, 2023
Statement of Financial Position [Abstract]
Restricted cash	$ 0.9	$ 0.6	$ 13.4
Property, plant and equipment, accumulated depreciation	625.4	618.9	637.8
Other intangibles, accumulated amortization	$ 1,314.7	$ 1,296.9	$ 1,165.3
Preference stock, par value (in dollars per share)	$ 2.50	$ 2.50	$ 2.50
Preference stock, authorized (in shares)	5,000,000	5,000,000	5,000,000
Preference stock, issued (in shares)	0	0	0
Common stock, par value (in dollars per share)	$ 0.50	$ 0.50	$ 0.50
Common stock, authorized (in shares)	600,000,000	600,000,000	600,000,000
Common stock, issued (in shares)	220,286,736	220,286,736	220,286,736
Treasury stock (in shares)	81,081,180	81,498,181	81,687,608