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Pension Plans - Net Periodic Pension (Benefit) Cost (Details) - Pension Plans, Defined Benefit - USD ($)
$ in Millions
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Oct. 01, 2022
Sep. 30, 2023
Oct. 01, 2022
Defined Benefit Plan Disclosure [Line Items]        
Service cost $ 4.7 $ 6.7 $ 14.1 $ 20.1
Interest cost 16.3 11.2 49.0 33.5
Expected return on plan assets (26.1) (25.0) (78.4) (74.9)
Amortization of unrecognized loss 0.4 4.6 1.1 13.8
Net periodic (pension benefit) postretirement healthcare cost $ (4.7) $ (2.5) $ (14.2) $ (7.5)