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Pension Plans - Schedule of Defined Benefit Pension Plans and Postretirement Benefit Plans (Details) - Pension Plan - USD ($)
$ in Millions
 3 Months Ended
Mar. 31, 2024
Apr. 02, 2023
Components of net period pension benefit expense    
Service cost — benefits earned during the period $ 1.5 $ 1.5
Pension non-service cost (income)    
Interest cost on benefit obligation 8.2 8.4
Expected return on plan assets (13.6) (13.6)
Amortization of net prior service cost (income) (0.2) (0.5)
Amortization of net actuarial loss (gain) 2.9 2.4
Pension non-service cost (income) $ (2.7) $ (3.3)