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Fair Value Measurements - Summary of Derivative Activity (Details) - USD ($) $ in Millions | 3 Months Ended
--- | ---
Mar. 31, 2024 | Apr. 02, 2023
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 | Interest Rate Swap | 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 | Interest Rate Swap | 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 | Interest Rate Swap | 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 | Interest Rate Swap | 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 | 8 | 169
Amount of gain or (loss) recognized in AOCI | (8) | (169)
Fair Value Hedging | Interest Rate Swap | 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 | 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 | 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 | 34 | 34
Amount of gain or (loss) recognized in AOCI | 34 | 34
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
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) | 24
Amount of gain or (loss) reclassified from AOCI into income | 1 | 12
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 | (19) | 145
Amount of gain or (loss) reclassified from AOCI into income | 165 | (146)
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 | 22 | (36)
Amount of gain or (loss) reclassified from AOCI into income | 4 | (13)
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 | Forward foreign exchange contracts | Other (income) expense |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |
Amount of gain or (loss) recognized in AOCI | 4 | (14)
Amount of gain or (loss) reclassified from AOCI into income | (2) | 2
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 | 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 | Interest (income)/Interest expense, net |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |
Amount of gain or (loss) recognized in AOCI | (205) | 417
Amount of gain or (loss) reclassified from AOCI into income | 49 | 108
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

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