Comprehensive Income and Equity - Dividends Declared and Paid (Details) - USD ($) $ in Millions	3 Months Ended
Apr. 01, 2023	Apr. 02, 2022
Equity [Abstract]
Dividends declared	$ 46.7	$ 46.8
Dividends paid	$ 46.8	$ 47.4

Amount of cash outflow in the form of ordinary dividends to common shareholders of the parent entity.

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 230
-SubTopic 10
-Section 45
-Paragraph 15
-Subparagraph (a)
-URI https://asc.fasb.org/extlink&oid=126954810&loc=d3e3291-108585

Name:	us-gaap_PaymentsOfDividendsCommonStock
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	duration