Stockholders' Equity (Details) - USD ($) shares in Thousands, $ in Millions	3 Months Ended
	Mar. 30, 2024	Apr. 01, 2023
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	$ 7,629.1	$ 8,017.9
Beginning balance (in shares)	71,000
Beginning balance, treasury stock (in shares)	(7,300)
Shares issued under employee and director stock plans, net of shares withheld to pay taxes on employees’ equity awards	$ (5.1)	(3.7)
Stock-based compensation expense	6.8	5.0
Net earnings attributable to noncontrolling interests		0.1
Currency translation adjustment on non-controlling interests	(0.1)	(0.1)
Purchase of noncontrolling interest, net of taxes	(0.1)	(0.1)
Currency translation adjustment	(87.8)	6.9
Prior pension and post-retirement benefit service cost and actuarial gain (loss)	0.0	(0.5)
Net earnings	105.0	80.2
Ending balance	$ 7,647.8	8,105.7
Ending balance (in shares)	71,200
Ending balance, treasury stock (in shares)	(7,300)
Common Stock
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	$ 0.7	$ 0.7
Beginning balance (in shares)	71,000	70,900
Shares issued under employee and director stock plans, net of shares withheld to pay taxes on employees’ equity awards (in shares)	200	100
Ending balance	$ 0.7	$ 0.7
Ending balance (in shares)	71,200	71,000
Additional Paid-in Capital
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	$ 1,947.5	$ 1,930.8
Shares issued under employee and director stock plans, net of shares withheld to pay taxes on employees’ equity awards	(5.2)	(3.8)
Stock-based compensation expense	6.8	5.0
Purchase of noncontrolling interest, net of taxes		0.1
Ending balance	1,949.1	1,932.1
Retained Earnings
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	6,970.2	7,409.8
Net earnings	105.0	80.2
Ending balance	7,075.2	7,490.0
Accumulated Other Comprehensive Income (Loss)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	(1,080.0)	(1,114.3)
Currency translation adjustment	(87.8)	6.9
Prior pension and post-retirement benefit service cost and actuarial gain (loss)		(0.5)
Ending balance	(1,167.8)	(1,107.9)
Treasury Stock
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	$ (215.4)	$ (215.5)
Beginning balance, treasury stock (in shares)	(7,300)	(7,300)
Shares issued under employee and director stock plans, net of shares withheld to pay taxes on employees’ equity awards	$ 0.1	$ 0.1
Ending balance	$ (215.3)	$ (215.4)
Ending balance, treasury stock (in shares)	(7,300)	(7,300)
Noncontrolling Interest
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	$ 6.1	$ 6.4
Net earnings attributable to noncontrolling interests		0.1
Currency translation adjustment on non-controlling interests	(0.1)	(0.1)
Purchase of noncontrolling interest, net of taxes	(0.1)	(0.2)
Ending balance	$ 5.9	$ 6.2