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Litigation and Contingencies Environmental Remediation (Details) - USD ($) $ in Millions | 3 Months Ended
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Apr. 02, 2022 | Apr. 03, 2021
Environmental Exit Cost [Line Items] |  |
Site Contingency, Recovery from Third Party of Environmental Remediation Cost |  | $ 55.0
Loss Contingency Accrual, Period Increase (Decrease) | $ 37.8 |
Loss Contingency Accrual, Payments | 1.5 |
Loss Contingency Accrual | 86.4 |
Accrual for Environmental Loss Contingencies [Roll Forward] |  |
Remediation liability at beginning of the year | 85.7 | 101.8
Amounts paid | (10.5) | (1.0)
Remediation liability at the end of the quarter | 75.2 | $ 100.8
Environmental remediation accrual, current | 21.6 |
Environmental remediation accrual, noncurrent | $ 53.6 |
Site Contingency, Time Frame of Disbursements | 25 |

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