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Pension Plans - Net Periodic Pension (Benefit) Cost (Details) - Pension Plans, Defined Benefit - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Oct. 01, 2022
Oct. 02, 2021
Oct. 01, 2022
Oct. 02, 2021
Defined Benefit Plan Disclosure [Line Items]        
Service cost $ 6.7 $ 7.3 $ 20.1 $ 21.7
Interest cost 11.2 10.6 33.5 31.7
Expected return on plan assets (25.0) (23.6) (74.9) (70.7)
Amortization of unrecognized loss 4.6 9.0 13.8 27.2
Net periodic pension (benefit) cost $ (2.5) $ 3.3 $ (7.5) $ 9.9