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Pension Plans - Net Periodic Pension (Benefit) Cost (Details) - Pension Plans, Defined Benefit - USD ($) $ in Millions	3 Months Ended
	Apr. 01, 2023	Apr. 02, 2022
Defined Benefit Plan Disclosure [Line Items]
Service cost	$ 4.9	$ 7.1
Interest cost	16.3	11.1
Expected return on plan assets	(26.2)	(24.5)
Amortization of unrecognized loss	0.3	4.5
Net periodic (pension benefit) postretirement healthcare cost	$ (4.7)	$ (1.8)

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