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Consolidated Statements of Equity (Parenthetical) - $ / shares
3 Months Ended 9 Months Ended
Oct. 01, 2023
Oct. 02, 2022
Oct. 01, 2023
Oct. 02, 2022
Statement of Stockholders' Equity [Abstract]        
Cash dividends paid (in dollars per share) $ 1.19 $ 1.13 $ 3.51 $ 3.32