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Comprehensive Income and Equity - Dividends Declared and Paid (Details) - USD ($) $ in Millions | 3 Months Ended
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Apr. 01, 2023 | Apr. 02, 2022
Equity [Abstract] |  |
Dividends declared | $ 46.7 | $ 46.8
Dividends paid | $ 46.8 | $ 47.4

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- Definition Amount of paid and unpaid common stock dividends declared with the form of settlement in cash. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.3-04) -URI https://asc.fasb.org/extlink&oid=120397183&loc=d3e187085-122770 + Details
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Namespace Prefix: | us-gaap_
Data Type: | xbrli:monetaryItemType
Balance Type: | debit
Period Type: | duration

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- References No definition available. + Details
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Namespace Prefix: | us-gaap_
Data Type: | xbrli:stringItemType
Balance Type: | na
Period Type: | duration

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- Definition Amount of cash outflow in the form of ordinary dividends to common shareholders of the parent entity. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 230 -SubTopic 10 -Section 45 -Paragraph 15 -Subparagraph (a) -URI https://asc.fasb.org/extlink&oid=126954810&loc=d3e3291-108585 + Details
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Namespace Prefix: | us-gaap_
Data Type: | xbrli:monetaryItemType
Balance Type: | credit
Period Type: | duration