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Pension Plans - Net Periodic Pension Cost (Details) - Pension Plans, Defined Benefit - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Oct. 02, 2021
Sep. 26, 2020
Oct. 02, 2021
Sep. 26, 2020
Defined Benefit Plan Disclosure [Line Items]        
Service cost $ 7.3 $ 6.7 $ 21.7 $ 20.2
Interest cost 10.6 12.2 31.7 36.6
Expected return on plan assets (23.6) (23.7) (70.7) (71.1)
Amortization of unrecognized loss 9.0 8.7 27.2 25.9
Net periodic cost $ 3.3 $ 3.9 $ 9.9 $ 11.6