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Accumulated Other Comprehensive Loss - Reclassifications out of AOCI (Details) - USD ($) $ in Millions | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 28, 2019 | Sep. 29, 2018 | Sep. 28, 2019 | Sep. 29, 2018
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |
Income taxes | $ (59.2) | $ (56.6) | $ (135.5) | $ (139.3)
(Millions of Dollars) |  |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |
Other Comprehensive Income (Loss), Reclassification Adjustment from AOCI on Derivatives, before Tax |  |  | (3.9) | (27.9)
(Millions of Dollars) | Other, net |  |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |
Other Comprehensive Income (Loss), Reclassification Adjustment from AOCI on Derivatives, before Tax |  |  | 8.3 | (16.6)
(Millions of Dollars) | Other Expense [Member] |  |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |
Other Comprehensive Income (Loss), Reclassification Adjustment from AOCI on Derivatives, before Tax |  |  | 25.6 | 11.5
(Millions of Dollars) | Interest Expense [Member] |  |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |
Other Comprehensive Income (Loss), Reclassification Adjustment from AOCI on Derivatives, before Tax |  |  | 12.2 | 11.3
(Millions of Dollars) | Pension (losses) gains, net of tax |  |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |
Income taxes |  |  | (2.8) | (2.8)
Other Comprehensive (Income) Loss, Defined Benefit Plan, Reclassification Adjustment from AOCI, after Tax |  |  | (8.7) | (8.4)
(Millions of Dollars) | Pension (losses) gains, net of tax | Other Expense [Member] |  |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |
Actuarial losses, reclassification to Statements of Operations and Comprehensive Income |  |  | (11.5) | (11.2)
Cash Flow Hedges | (Millions of Dollars) | Unrealized (losses) gains on cash flow hedges, net of tax |  |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |
Income taxes |  |  | 1.7 | 12.1
Other Comprehensive Income (Loss), Reclassification Adjustment from AOCI on Derivatives, Net of Tax |  |  | 2.2 | (15.8)
Net Investment Hedging [Member] | (Millions of Dollars) | Unrealized (losses) gains on cash flow hedges, net of tax |  |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |
Income taxes |  |  | (6.3) | (2.7)
Other Comprehensive Income (Loss), Reclassification Adjustment from AOCI on Derivatives, Net of Tax |  |  | $ 19.3 | $ 8.8

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