We just did this a few weeks ago - landed in FCO on May 25 and went immediately to Florence.
I booked our tickets from Rome Termini to Florence SMN about a month in advance on Trenitalia.com. I knew that I wanted to take the high-speed train, meaning that reservations are required, and the best/cheapest fare classes usually sell out in advance. Our plane was supposed to land in FCO at 7:45am, so I booked a 12:30 train from Termini to SMN to give us plenty of time.
It ended up being too much time, as our plane landed earlier than scheduled, and we were through customs and on the 8:30 Leonardo Express train, meaning we arrived into Termini at 9am. (Our customs experience was abnormally quick, though - I'm traveling with my 5 year old kiddo, and we were pulled out of the general customs line and sent to a "priority" queue that was actually for diplomatic passports. Sometimes traveling with a child has its perks! I digress, however.) Our tickets were changeable, but both the earlier trains from Termini to SMN were sold out. If we hadn't purchased tickets in advance, I'm not sure we would have made it to Florence that day, and certainly not with a seat on the train. That's a really long story for me to say - I'd definitely recommend buying in advance. I'd rather have a few extra hours to kill in Termini rather than not being able to find a train at all.