Accumulated Other Comprehensive Loss - Reclassifications out of AOCI (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 30, 2019	Mar. 31, 2018
Accumulated Other Comprehensive Income (Loss) [Line Items]
Income taxes	$ (24.7)	$ (81.7)
(Millions of Dollars)
Accumulated Other Comprehensive Income (Loss) [Line Items]
Other Comprehensive Income (Loss), Reclassification Adjustment from AOCI on Derivatives, before Tax	(4.2)	(6.6)
(Millions of Dollars) | Other, net
Accumulated Other Comprehensive Income (Loss) [Line Items]
Other Comprehensive Income (Loss), Reclassification Adjustment from AOCI on Derivatives, before Tax	(0.2)	(2.8)
(Millions of Dollars) | Other Expense [Member]
Accumulated Other Comprehensive Income (Loss) [Line Items]
Other Comprehensive Income (Loss), Reclassification Adjustment from AOCI on Derivatives, before Tax	8.7	3.5
(Millions of Dollars) | Interest Expense [Member]
Accumulated Other Comprehensive Income (Loss) [Line Items]
Other Comprehensive Income (Loss), Reclassification Adjustment from AOCI on Derivatives, before Tax	4.0	3.8
(Millions of Dollars) | Pension (losses) gains, net of tax
Accumulated Other Comprehensive Income (Loss) [Line Items]
Income taxes	(0.9)	(0.9)
Other Comprehensive (Income) Loss, Defined Benefit Plan, Reclassification Adjustment from AOCI, after Tax	(2.9)	(2.9)
(Millions of Dollars) | Pension (losses) gains, net of tax | Other Expense [Member]
Accumulated Other Comprehensive Income (Loss) [Line Items]
Actuarial losses, reclassification to Statements of Operations and Comprehensive Income	(3.8)	(3.8)
Cash Flow Hedges | (Millions of Dollars) | Unrealized (losses) gains on cash flow hedges, net of tax
Accumulated Other Comprehensive Income (Loss) [Line Items]
Income taxes	2.1	2.0
Other Comprehensive Income (Loss), Reclassification Adjustment from AOCI on Derivatives, Net of Tax	2.1	(4.6)
Net Investment Hedging [Member] | (Millions of Dollars) | Unrealized (losses) gains on cash flow hedges, net of tax
Accumulated Other Comprehensive Income (Loss) [Line Items]
Income taxes	(2.1)	(0.7)
Other Comprehensive Income (Loss), Reclassification Adjustment from AOCI on Derivatives, Net of Tax	$ 6.6	$ 2.8