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Fair value measurements - Summary of Derivative Activity (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2023 | Jan. 01, 2023 | Jan. 02, 2022
Derivative Instruments, Gain (Loss) [Line Items] |  |  |
Amount of gain or (loss) reclassified from AOCI into income | $ 569 | $ 348 | $ 789
Amount of gain or (loss) recognized in AOCI | 422 | 454 | $ (199)
Sales | Interest Rate Swap | Fair Value Hedging |  |  |
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 |
Sales | Cross currency interest rate swaps contracts: | Fair Value Hedging |  |  |
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 |
Sales | Cross currency interest rate swaps contracts: | Cash Flow Hedging |  |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |  |
Amount of gain or (loss) reclassified from AOCI into income | 0 | 0 |
Amount of gain or (loss) recognized in AOCI | 0 | 0 |
Sales | Forward foreign exchange contracts: | Cash Flow Hedging |  |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |  |
Amount of gain or (loss) reclassified from AOCI into income | 7 | (72) |
Amount of gain or (loss) recognized in AOCI | 10 | 5 |
Cost of Products Sold | Interest Rate Swap | Fair Value Hedging |  |  |
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 |
Cost of Products Sold | Cross currency interest rate swaps contracts: | Fair Value Hedging |  |  |
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 |
Cost of Products Sold | Cross currency interest rate swaps contracts: | Cash Flow Hedging |  |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |  |
Amount of gain or (loss) reclassified from AOCI into income | 0 | 0 |
Amount of gain or (loss) recognized in AOCI | 0 | 0 |
Cost of Products Sold | Forward foreign exchange contracts: | Cash Flow Hedging |  |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |  |
Amount of gain or (loss) reclassified from AOCI into income | 186 | (271) |
Amount of gain or (loss) recognized in AOCI | 447 | 319 |
R&D Expense | Interest Rate Swap | Fair Value Hedging |  |  |
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 |
R&D Expense | Cross currency interest rate swaps contracts: | Fair Value Hedging |  |  |
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 |
R&D Expense | Cross currency interest rate swaps contracts: | Cash Flow Hedging |  |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |  |
Amount of gain or (loss) reclassified from AOCI into income | 0 | 0 |
Amount of gain or (loss) recognized in AOCI | 0 | 0 |
R&D Expense | Forward foreign exchange contracts: | Cash Flow Hedging |  |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |  |
Amount of gain or (loss) reclassified from AOCI into income | (37) | 149 |
Amount of gain or (loss) recognized in AOCI | (18) | 61 |
Interest (Income) Expense | Interest Rate Swap | Fair Value Hedging |  |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |  |
Amount of gain or (loss) recognized in income on derivative amount excluded from effectiveness testing | (930) | (1,098) |
Amount of gain or (loss) recognized in AOCI | 930 | 1,098 |
Interest (Income) Expense | Cross currency interest rate swaps contracts: | Fair Value Hedging |  |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |  |
Amount of gain or (loss) recognized in income on derivative amount excluded from effectiveness testing | 130 | 140 |
Amount of gain or (loss) recognized in AOCI | 130 | 140 |
Interest (Income) Expense | Cross currency interest rate swaps contracts: | Cash Flow Hedging |  |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |  |
Amount of gain or (loss) reclassified from AOCI into income | 275 | 425 |
Amount of gain or (loss) recognized in AOCI | (156) | 42 |
Interest (Income) Expense | Forward foreign exchange contracts: | Cash Flow Hedging |  |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |  |
Amount of gain or (loss) reclassified from AOCI into income | 0 | 0 |
Amount of gain or (loss) recognized in AOCI | 0 | 0 |
Other (Income) Expense | Interest Rate Swap | Fair Value Hedging |  |  |
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 |
Other (Income) Expense | Cross currency interest rate swaps contracts: | Fair Value Hedging |  |  |
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 |
Other (Income) Expense | Cross currency interest rate swaps contracts: | Cash Flow Hedging |  |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |  |
Amount of gain or (loss) reclassified from AOCI into income | 0 | 0 |
Amount of gain or (loss) recognized in AOCI | 0 | 0 |
Other (Income) Expense | Forward foreign exchange contracts: | Cash Flow Hedging |  |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |  |
Amount of gain or (loss) reclassified from AOCI into income | 8 | (23) |
Amount of gain or (loss) recognized in AOCI | $ 9 | $ (113) |

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