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Accumulated Other Comprehensive Income (Loss) - Reclassifications Out of Accumulated OCI (Details) - USD ($)
$ in Millions
 3 Months Ended
Mar. 31, 2024
Apr. 02, 2023
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Costs and expenses $ 1,115.8 $ 1,140.8
Total before tax (225.5) (223.7)
Income tax impact 46.4 44.9
Total (178.5) (178.7)
Amount Reclassified from AOCI | Cash Flow Hedges and Other    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Total before tax (9.3) (9.8)
Income tax impact 2.4 2.5
Total (6.9) (7.3)
Amount Reclassified from AOCI | Pension and Postretirement Benefits    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Total before tax 2.8 2.0
Income tax impact (0.7) (0.5)
Total 2.1 1.5
Amount Reclassified from AOCI | Amortization of prior service cost    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Costs and expenses (0.1) (0.4)
Amount Reclassified from AOCI | Amortization of net actuarial loss    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Costs and expenses $ 2.9 $ 2.4