Accumulated Other Comprehensive Loss - Reclassifications out of AOCI (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jun. 29, 2019	Jun. 30, 2018	Jun. 29, 2019	Jun. 30, 2018
Accumulated Other Comprehensive Income (Loss) [Line Items]
Income taxes	$ (51.6)	$ (1.0)	$ (76.3)	$ (82.7)
(Millions of Dollars)
Accumulated Other Comprehensive Income (Loss) [Line Items]
Other Comprehensive Income (Loss), Reclassification Adjustment from AOCI on Derivatives, before Tax			(5.6)	(19.6)
(Millions of Dollars) | Other, net
Accumulated Other Comprehensive Income (Loss) [Line Items]
Other Comprehensive Income (Loss), Reclassification Adjustment from AOCI on Derivatives, before Tax			2.5	(12.0)
(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			16.8	7.5
(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			8.1	7.6
(Millions of Dollars) | Pension (losses) gains, net of tax
Accumulated Other Comprehensive Income (Loss) [Line Items]
Income taxes			(1.9)	(2.0)
Other Comprehensive (Income) Loss, Defined Benefit Plan, Reclassification Adjustment from AOCI, after Tax			(5.8)	(5.8)
(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			(7.7)	(7.8)
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			2.4	7.9
Other Comprehensive Income (Loss), Reclassification Adjustment from AOCI on Derivatives, Net of Tax			3.2	(11.7)
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			(4.1)	(1.6)
Other Comprehensive Income (Loss), Reclassification Adjustment from AOCI on Derivatives, Net of Tax			$ 12.7	$ 5.9