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Supplemental Equity and Comprehensive Income Information - Schedule of Consolidated Statements of Shareholders' Equity (Details) - USD ($) $ / shares in Units, $ in Millions | 3 Months Ended | 9 Months Ended |
--- | --- | --- | ---
Sep. 28, 2024 | Sep. 30, 2023 | Sep. 28, 2024 | Sep. 30, 2023 | Dec. 30, 2023
Changes In Stockholders' Equity [Line Items] |  |  |  |  |
Common stock, par value (in dollars per share) | $ 1 | $ 1 | $ 1 | $ 1 | $ 1
Common stock issued, $1 par value per share | $ 124.1 | $ 124.1 | $ 124.1 | $ 124.1 | $ 124.1
Increase (Decrease) in Stockholders' Equity |  |  |  |  |
Beginning balance |  |  | 2,127.9 |  |
Net income | 181.7 | 138.3 | 530.9 | 359.9 |
Other comprehensive income (loss), net of tax | 37.3 | $ (9.4) | 7.7 | $ (38.6) |
Ending balance | $ 2,393.9 |  | $ 2,393.9 |  |
Dividends per common share | $ 0.88 | $ 0.81 | $ 2.57 | $ 2.37 |
Capital in excess of par value |  |  |  |  |
Increase (Decrease) in Stockholders' Equity |  |  |  |  |
Beginning balance | $ 833.1 | $ 851.3 | $ 854.5 | $ 879.3 |
Issuance of shares under stock-based compensation plans | 6.7 | 1.2 | (14.7) | (26.8) |
Ending balance | 839.8 | 852.5 | 839.8 | 852.5 |
Retained earnings |  |  |  |  |
Increase (Decrease) in Stockholders' Equity |  |  |  |  |
Beginning balance | 4,922.2 | 4,526.9 | 4,691.8 | 4,414.6 |
Issuance of shares under stock-based compensation plans | 3.2 | 3.0 | 7.3 | 8.6 |
Net income | 181.7 | 138.3 | 530.9 | 359.9 |
Contribution of shares to 401(k) plan | 6.5 | 5.3 | 19.8 | 16.6 |
Dividends | (70.9) | (65.3) | (207.1) | (191.5) |
Ending balance | 5,042.7 | 4,608.2 | 5,042.7 | 4,608.2 |
Treasury stock at cost |  |  |  |  |
Increase (Decrease) in Stockholders' Equity |  |  |  |  |
Beginning balance | (3,154.6) | (3,093.9) | (3,134.4) | (3,021.8) |
Issuance of shares under stock-based compensation plans | 7.1 | 0.9 | 23.4 | 13.9 |
Repurchase of shares for treasury | (66.8) | (27.6) | (107.5) | (117.1) |
Contribution of shares to 401(k) plan | 2.0 | 2.0 | 6.2 | 6.4 |
Ending balance | (3,212.3) | (3,118.6) | (3,212.3) | (3,118.6) |
Accumulated other comprehensive loss |  |  |  |  |
Increase (Decrease) in Stockholders' Equity |  |  |  |  |
Beginning balance | (437.7) | (393.2) | (408.1) | (364.0) |
Other comprehensive income (loss), net of tax | 37.3 | (9.4) | 7.7 | (38.6) |
Ending balance | $ (400.4) | $ (402.6) | $ (400.4) | $ (402.6) |

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