Accumulated Other Comprehensive Loss - Reclassifications out of AOCI (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 28, 2019	Sep. 29, 2018	Sep. 28, 2019	Sep. 29, 2018
Accumulated Other Comprehensive Income (Loss) [Line Items]
Income taxes	$ (59.2)	$ (56.6)	$ (135.5)	$ (139.3)
(Millions of Dollars)
Accumulated Other Comprehensive Income (Loss) [Line Items]
Other Comprehensive Income (Loss), Reclassification Adjustment from AOCI on Derivatives, before Tax			(3.9)	(27.9)
(Millions of Dollars) | Other, net
Accumulated Other Comprehensive Income (Loss) [Line Items]
Other Comprehensive Income (Loss), Reclassification Adjustment from AOCI on Derivatives, before Tax			8.3	(16.6)
(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			25.6	11.5
(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			12.2	11.3
(Millions of Dollars) | Pension (losses) gains, net of tax
Accumulated Other Comprehensive Income (Loss) [Line Items]
Income taxes			(2.8)	(2.8)
Other Comprehensive (Income) Loss, Defined Benefit Plan, Reclassification Adjustment from AOCI, after Tax			(8.7)	(8.4)
(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			(11.5)	(11.2)
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			1.7	12.1
Other Comprehensive Income (Loss), Reclassification Adjustment from AOCI on Derivatives, Net of Tax			2.2	(15.8)
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			(6.3)	(2.7)
Other Comprehensive Income (Loss), Reclassification Adjustment from AOCI on Derivatives, Net of Tax			$ 19.3	$ 8.8