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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
Apr. 01, 2023
Apr. 02, 2022
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Beginning balance $ 4,503.5 $ 4,203.8
Other comprehensive income (loss) before reclassifications 18.1 (9.7)
Amounts reclassified from Accumulated OCI (0.4) 3.0
Net other comprehensive income (loss) 17.7 (6.7)
Ending balance 4,632.4 4,320.6
Accumulated Other Comprehensive Loss    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Beginning balance (528.3) (343.9)
Net other comprehensive income (loss) 17.7 (6.7)
Ending balance (510.6) (350.6)
Foreign Currency Translation    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Beginning balance (272.5) (145.1)
Other comprehensive income (loss) before reclassifications 18.1 (9.7)
Amounts reclassified from Accumulated OCI 0.0 0.0
Net other comprehensive income (loss) 18.1 (9.7)
Ending balance (254.4) (154.8)
Cash Flow Hedges    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Beginning balance 7.3 8.9
Other comprehensive income (loss) before reclassifications 0.0 0.0
Amounts reclassified from Accumulated OCI (0.4) (0.4)
Net other comprehensive income (loss) (0.4) (0.4)
Ending balance 6.9 8.5
Defined Benefit Pension and Postretirement Plans    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Beginning balance (263.1) (207.7)
Other comprehensive income (loss) before reclassifications 0.0 0.0
Amounts reclassified from Accumulated OCI 0.0 3.4
Net other comprehensive income (loss) 0.0 3.4
Ending balance $ (263.1) $ (204.3)