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Pension Plans - Net Periodic Pension (Benefit) Cost (Details) - Pension Plans, Defined Benefit - USD ($) $ in Millions	3 Months Ended
	Apr. 02, 2022	Apr. 03, 2021
Defined Benefit Plan Disclosure [Line Items]
Service cost	$ 7.1	$ 7.5
Interest cost	11.1	10.6
Expected return on plan assets	(24.5)	(23.6)
Amortization of unrecognized loss	4.5	9.1
Pension and postretirement cost	$ (1.8)	$ 3.6

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