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Accumulated Other Comprehensive Income (Loss) - Reclassifications Out of Accumulated OCI (Details) - USD ($)
$ in Millions
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Oct. 01, 2022
Sep. 30, 2023
Oct. 01, 2022
Gains on cash flow hedges:        
Interest expense $ (12.4) $ (11.8) $ (37.4) $ (35.1)
Other income (expense) - net 18.0 13.1 50.0 30.7
Income tax expense (71.1) (61.7) (223.9) (201.5)
Net earnings 249.1 229.5 773.3 689.4
Reclassification out of AOCI        
Gains on cash flow hedges:        
Net earnings 0.3 (3.0) 1.0 (9.2)
Cash Flow Hedges | Reclassification out of AOCI        
Gains on cash flow hedges:        
Interest expense 0.4 0.4 1.2 1.2
Income tax expense 0.0 0.0 0.0 0.0
Net earnings 0.4 0.4 1.2 1.2
Defined Benefit Pension and Postretirement Plans | Reclassification out of AOCI        
Gains on cash flow hedges:        
Other income (expense) - net (0.1) (4.6) (0.2) (13.8)
Income tax expense 0.0 1.2 0.0 3.4
Net earnings $ (0.1) $ (3.4) $ (0.2) $ (10.4)