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Accumulated Other Comprehensive Income (Loss) - Net Changes in Accumulated OCI by Component, Net of Tax (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jul. 02, 2022	Jul. 03, 2021	Jul. 02, 2022	Jul. 03, 2021
Accumulated Other Comprehensive Income (Loss) [Line Items]
Beginning balance	$ 4,320.6	$ 3,897.9	$ 4,203.8	$ 3,846.6
Other comprehensive loss before reclassifications	(110.3)	20.2	(120.0)	(8.8)
Amounts reclassified from Accumulated OCI	3.2	5.4	6.2	11.9
Net other comprehensive income (loss)	(107.1)	25.6	(113.8)	3.1
Ending balance	4,346.8	4,025.5	4,346.8	4,025.5
Accumulated Other Comprehensive Income (Loss)
Accumulated Other Comprehensive Income (Loss) [Line Items]
Beginning balance	(350.6)	(388.3)	(343.9)	(365.8)
Net other comprehensive income (loss)	(107.1)	25.6	(113.8)	3.1
Ending balance	(457.7)	(362.7)	(457.7)	(362.7)
Foreign Currency Translation
Accumulated Other Comprehensive Income (Loss) [Line Items]
Beginning balance	(154.8)	(103.7)	(145.1)	(74.7)
Other comprehensive loss before reclassifications	(110.3)	20.2	(120.0)	(8.8)
Amounts reclassified from Accumulated OCI	0.0	(1.0)	0.0	(1.0)
Net other comprehensive income (loss)	(110.3)	19.2	(120.0)	(9.8)
Ending balance	(265.1)	(84.5)	(265.1)	(84.5)
Cash Flow Hedges
Accumulated Other Comprehensive Income (Loss) [Line Items]
Beginning balance	8.5	10.1	8.9	10.5
Other comprehensive loss before reclassifications	0.0	0.0	0.0	0.0
Amounts reclassified from Accumulated OCI	(0.4)	(0.4)	(0.8)	(0.8)
Net other comprehensive income (loss)	(0.4)	(0.4)	(0.8)	(0.8)
Ending balance	8.1	9.7	8.1	9.7
Defined Benefit Pension and Postretirement Plans
Accumulated Other Comprehensive Income (Loss) [Line Items]
Beginning balance	(204.3)	(294.7)	(207.7)	(301.6)
Other comprehensive loss before reclassifications	0.0	0.0	0.0	0.0
Amounts reclassified from Accumulated OCI	3.6	6.8	7.0	13.7
Net other comprehensive income (loss)	3.6	6.8	7.0	13.7
Ending balance	$ (200.7)	$ (287.9)	$ (200.7)	$ (287.9)

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