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Accumulated Other Comprehensive Income (Loss) - Changes in AOCI by Component (Details) - USD ($)
$ in Millions
 3 Months Ended
Mar. 31, 2024
Apr. 02, 2023
Accumulated Other Comprehensive Income (Loss) [Roll Forward]    
Beginning balance $ 9,221.2 $ 8,169.2
Other comprehensive income (loss) before reclassifications (86.1) 5.5
Amounts reclassified from AOCI (4.8) (5.8)
Net other comprehensive income (loss) (90.9) (0.3)
Ending balance 9,328.0 8,365.7
Total    
Accumulated Other Comprehensive Income (Loss) [Roll Forward]    
Beginning balance (634.1) (726.5)
Net other comprehensive income (loss) (90.9) (0.3)
Ending balance (725.0) (726.8)
Foreign Currency Translation    
Accumulated Other Comprehensive Income (Loss) [Roll Forward]    
Beginning balance (392.7) (472.3)
Other comprehensive income (loss) before reclassifications (88.8) (4.3)
Amounts reclassified from AOCI 0.0 0.0
Net other comprehensive income (loss) (88.8) (4.3)
Ending balance (481.5) (476.6)
Cash Flow Hedges and Other    
Accumulated Other Comprehensive Income (Loss) [Roll Forward]    
Beginning balance 8.2 1.3
Other comprehensive income (loss) before reclassifications 2.7 9.8
Amounts reclassified from AOCI (6.9) (7.3)
Net other comprehensive income (loss) (4.2) 2.5
Ending balance 4.0 3.8
Pension and Postretirement Benefits    
Accumulated Other Comprehensive Income (Loss) [Roll Forward]    
Beginning balance (249.6) (255.5)
Other comprehensive income (loss) before reclassifications 0.0 0.0
Amounts reclassified from AOCI 2.1 1.5
Net other comprehensive income (loss) 2.1 1.5
Ending balance $ (247.5) $ (254.0)