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Accumulated Other Comprehensive Income (Loss) - Reclassifications Out of Accumulated OCI (Details) - USD ($)
$ in Millions
 3 Months Ended 6 Months Ended
Jul. 01, 2023
Jul. 02, 2022
Jul. 01, 2023
Jul. 02, 2022
Gains on cash flow hedges:        
Interest expense $ (12.6) $ (11.7) $ (25.0) $ (23.3)
Other income (expense) - net 16.8 9.3 32.0 17.6
Income tax expense (78.2) (72.3) (152.8) (139.8)
Net earnings 269.9 237.2 524.2 459.9
Reclassification out of AOCI        
Gains on cash flow hedges:        
Net earnings 0.3 (3.2) 0.7 (6.2)
Cash Flow Hedges | Reclassification out of AOCI        
Gains on cash flow hedges:        
Interest expense 0.4 0.4 0.8 0.8
Income tax expense 0.0 0.0 0.0 0.0
Net earnings 0.4 0.4 0.8 0.8
Defined Benefit Pension and Postretirement Plans | Reclassification out of AOCI        
Gains on cash flow hedges:        
Other income (expense) - net (0.1) (4.7) (0.1) (9.2)
Income tax expense 0.0 1.1 0.0 2.2
Net earnings $ (0.1) $ (3.6) $ (0.1) $ (7.0)