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Accumulated Other Comprehensive Income (Loss) - Reclassifications Out of Accumulated OCI (Details) - USD ($)
$ in Millions
 3 Months Ended
Apr. 01, 2023
Apr. 02, 2022
Gains on cash flow hedges:    
Interest expense $ (12.4) $ (11.6)
Other income (expense) - net 15.2 8.3
Income tax expense (74.6) (67.5)
Net earnings 254.3 222.7
Reclassification out of AOCI    
Gains on cash flow hedges:    
Net earnings 0.4 (3.0)
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:    
Other income (expense) - net 0.0 (4.5)
Income tax expense 0.0 1.1
Net earnings $ 0.0 $ (3.4)