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Pension Plans - Net Periodic Pension (Benefit) Cost (Details) - Pension Plans, Defined Benefit - USD ($)
$ in Millions
 3 Months Ended 6 Months Ended
Jul. 01, 2023
Jul. 02, 2022
Jul. 01, 2023
Jul. 02, 2022
Defined Benefit Plan Disclosure [Line Items]        
Service cost $ 4.5 $ 6.3 $ 9.4 $ 13.4
Interest cost 16.4 11.2 32.7 22.3
Expected return on plan assets (26.1) (25.4) (52.3) (49.9)
Amortization of unrecognized loss 0.4 4.7 0.7 9.2
Net periodic (pension benefit) postretirement healthcare cost $ (4.8) $ (3.2) $ (9.5) $ (5.0)