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Common stock, stock option plans and stock compensation agreements - Narrative (Details) $ / shares in Units, $ in Millions | 12 Months Ended
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Dec. 31, 2023 USD ($) StockBasedCompensationPlans $ / shares shares | Jan. 01, 2023 USD ($) $ / shares shares | Jan. 02, 2022 USD ($) $ / shares shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Number of stock-based compensation plans | StockBasedCompensationPlans | 1 |  |
Compensation cost charged for Long term incentive plan | $ | $ 1,087 | $ 1,028 | $ 1,038
Total income tax benefit recognized | $ | 221 | 177 | 199
Exercise of options, tax benefit | $ | 126 | 267 | 213
Total compensation cost not yet recognized for option | $ | $ 907 | $ 866 | $ 775
Weighted average period for total compensation cost not yet recognized | 1 year 9 months 18 days | 1 year 9 months 18 days | 1 year 9 months 10 days
Average fair value of option granted (in dollars per share) | $ / shares | $ 27.85 | $ 23.23 | $ 20.86
Total intrinsic value of options exercised | $ | $ 729 | $ 1,228 | $ 919
Options cancelled in period (in shares) | 7,689 |  |
Stock options outstanding (in shares) | 112,238,000 | 118,672,000 | 117,361,000
Stock option average life | 5 years 6 months | 5 years 9 months 18 days | 5 years 9 months 18 days
Stock options exercisable (in shares) |  | 63,661,000 | 62,742,000
Stock options average price (in dollars per share) | $ / shares |  | $ 113.06 | $ 104.42
Employee Stock Option |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Stock options expiration period | 10 years |  |
Restricted Stock Units (RSUs) |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Average fair value of RSU's and PSU's granted (in dollars per share) | $ / shares | $ 152.63 | $ 153.67 | $ 152.62
Fair Value of RSU or PSU units settled | $ | $ 605 | $ 591 | $ 611
Performance Shares |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award vesting period | 3 years |  |
Average fair value of RSU's and PSU's granted (in dollars per share) | $ / shares | $ 145.17 | $ 170.46 | $ 179.35
Fair Value of RSU or PSU units settled | $ | $ 140 | $ 94 | $ 83
Minimum | Employee Stock Option |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award vesting period | 6 months |  |
Minimum | Restricted Stock Units (RSUs) |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award vesting period | 6 months |  |
Minimum | Performance Shares |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Vesting percentage | 0.00% |  |
Maximum | Employee Stock Option |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award vesting period | 4 years |  |
Maximum | Restricted Stock Units (RSUs) |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award vesting period | 3 years |  |
Maximum | Performance Shares |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Vesting percentage | 200.00% |  |
2022 Long-Term Incentive Plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Number of shares authorized for issuance under long-term incentive plan (in shares) | 150,000,000 |  |
Shares issued subject to stock options or stock appreciation rights (in shares) | 110,000,000 |  |
Shares subject to full value awards (in shares) | 40,000,000 |  |
Shares subject to full value award, excess (in shares) | 40,000,000 |  |
Shares available for future grants under long-term incentive plan | 130,000,000 |  |

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