Fair Value Measurements - Summary of Derivative Activity (Details) - USD ($) $ in Millions	3 Months Ended
Apr. 04, 2021	Mar. 29, 2020
Other (income) expense
Derivative Instruments, Gain (Loss) [Line Items]
Amount of gain or (loss) reclassified from AOCI into income	$ 0	$ 0
Cross currency interest rate swaps \| Other (income) expense
Derivative Instruments, Gain (Loss) [Line Items]
Amount of gain or (loss) reclassified from AOCI into income	0	0
Fair Value Hedging \| Cross currency interest rate swaps \| Sales to customers
Derivative Instruments, Gain (Loss) [Line Items]
Amount of gain or (loss) recognized in income on derivative amount excluded from effectiveness testing	0	0
Amount of gain or (loss) recognized in AOCI	0	0
Fair Value Hedging \| Cross currency interest rate swaps \| Cost of products sold
Derivative Instruments, Gain (Loss) [Line Items]
Amount of gain or (loss) recognized in income on derivative amount excluded from effectiveness testing	0	0
Amount of gain or (loss) recognized in AOCI	0	0
Fair Value Hedging \| Cross currency interest rate swaps \| Research and Development Expense
Derivative Instruments, Gain (Loss) [Line Items]
Amount of gain or (loss) recognized in income on derivative amount excluded from effectiveness testing	0	0
Amount of gain or (loss) recognized in AOCI	0	0
Fair Value Hedging \| Cross currency interest rate swaps \| Other (income) expense
Derivative Instruments, Gain (Loss) [Line Items]
Amount of gain or (loss) recognized in income on derivative amount excluded from effectiveness testing	0	0
Amount of gain or (loss) recognized in AOCI	0	0
Fair Value Hedging \| Cross currency interest rate swaps \| Interest (income)/Interest expense, net
Derivative Instruments, Gain (Loss) [Line Items]
Amount of gain or (loss) recognized in income on derivative amount excluded from effectiveness testing	40	40
Amount of gain or (loss) recognized in AOCI	40	40
Cash Flow Hedging \| Forward foreign exchange contracts \| Sales to customers
Derivative Instruments, Gain (Loss) [Line Items]
Amount of gain or (loss) recognized in AOCI	(3)	11
Amount of gain or (loss) reclassified from AOCI into income	17	9
Cash Flow Hedging \| Forward foreign exchange contracts \| Cost of products sold
Derivative Instruments, Gain (Loss) [Line Items]
Amount of gain or (loss) recognized in AOCI	(193)	302
Amount of gain or (loss) reclassified from AOCI into income	34	(173)
Cash Flow Hedging \| Forward foreign exchange contracts \| Research and Development Expense
Derivative Instruments, Gain (Loss) [Line Items]
Amount of gain or (loss) recognized in AOCI	(76)	(110)
Amount of gain or (loss) reclassified from AOCI into income	(113)	(110)
Cash Flow Hedging \| Forward foreign exchange contracts \| Other (income) expense
Derivative Instruments, Gain (Loss) [Line Items]
Amount of gain or (loss) recognized in AOCI	17	(36)
Amount of gain or (loss) reclassified from AOCI into income	3	(2)
Cash Flow Hedging \| Forward foreign exchange contracts \| Interest (income)/Interest expense, net
Derivative Instruments, Gain (Loss) [Line Items]
Amount of gain or (loss) recognized in AOCI	0	0
Amount of gain or (loss) reclassified from AOCI into income	0	0
Cash Flow Hedging \| Cross currency interest rate swaps \| Sales to customers
Derivative Instruments, Gain (Loss) [Line Items]
Amount of gain or (loss) recognized in AOCI	0	0
Amount of gain or (loss) reclassified from AOCI into income	0	0
Cash Flow Hedging \| Cross currency interest rate swaps \| Cost of products sold
Derivative Instruments, Gain (Loss) [Line Items]
Amount of gain or (loss) recognized in AOCI	0	0
Amount of gain or (loss) reclassified from AOCI into income	0
Cash Flow Hedging \| Cross currency interest rate swaps \| Research and Development Expense
Derivative Instruments, Gain (Loss) [Line Items]
Amount of gain or (loss) recognized in AOCI	0	0
Amount of gain or (loss) reclassified from AOCI into income	0	0
Cash Flow Hedging \| Cross currency interest rate swaps \| Other (income) expense
Derivative Instruments, Gain (Loss) [Line Items]
Amount of gain or (loss) recognized in AOCI	0	0
Amount of gain or (loss) reclassified from AOCI into income	0	0
Cash Flow Hedging \| Cross currency interest rate swaps \| Interest (income)/Interest expense, net
Derivative Instruments, Gain (Loss) [Line Items]
Amount of gain or (loss) recognized in AOCI	(307)	625
Amount of gain or (loss) reclassified from AOCI into income	$ 92	$ 98

Amount of gain (loss) from excluded component of derivative hedge, recognized in earnings. Excludes recognition under systematic and rational method.

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