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Accumulated Other Comprehensive Income (Loss) - Reclassifications Out of Accumulated OCI (Details) - USD ($)
$ in Millions
 3 Months Ended
Apr. 02, 2022
Apr. 03, 2021
Gains on cash flow hedges:    
Interest expense $ (11.6) $ (14.3)
Income tax expense (67.5) (59.1)
Amortization of net unrecognized losses 8.3 4.3
Net earnings 222.7 197.6
Reclassification out of AOCI    
Gains on cash flow hedges:    
Net earnings (3.0) (6.5)
Cash Flow Hedges | Reclassification out of AOCI    
Gains on cash flow hedges:    
Interest expense 0.4 0.4
Income tax expense 0.0 0.0
Net earnings 0.4 0.4
Defined Benefit Pension and Postretirement Plans | Reclassification out of AOCI    
Gains on cash flow hedges:    
Income tax expense 1.1 2.2
Amortization of net unrecognized losses (4.5) (9.1)
Net earnings $ (3.4) $ (6.9)