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Litigation and Contingencies Environmental Remediation (Details) - USD ($)
$ in Millions
 9 Months Ended
Oct. 01, 2022
Oct. 02, 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 50.1  
Loss Contingency Accrual 37.8  
Accrual for Environmental Loss Contingencies [Roll Forward]    
Remediation liability at beginning of the year 85.7 101.8
Amounts paid (21.3) (21.1)
Remediation liability at the end of the quarter 64.4 $ 80.7
Environmental remediation accrual, current 30.9  
Environmental remediation accrual, noncurrent $ 33.5  
Site Contingency, Time Frame of Disbursements 25