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Retirement Plans (Summary of Net Pension and Supplemental Executive Retirement Plan Expense Recognized) (Details) - USD ($)
$ in Millions
 3 Months Ended
Apr. 03, 2021
Mar. 28, 2020
Retirement Benefits [Abstract]    
Service cost pertaining to benefits earned during the period $ 1.8 $ 1.6
Interest cost on projected benefit obligations 3.2 3.5
Expected return on pension assets (4.9) (4.6)
Net amortization loss 3.4 1.6
Net pension expense $ 3.5 $ 2.1