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Share-Based Compensation Plans - Schedule of Compensation Expense (Details) - USD ($) $ / shares in Units, $ in Millions | 3 Months Ended | 9 Months Ended
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Sep. 30, 2023 | Oct. 01, 2022 | Sep. 30, 2023 | Oct. 01, 2022
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Share-based compensation expense included in Operating earnings | $ 52 | $ 45 | $ 160 | $ 126
Tax benefit | (11) | (9) | (33) | (26)
Share-based compensation expense, net of tax | $ 41 | $ 36 | $ 127 | $ 100
Decrease in basic earnings per share (in USD per share) | $ (0.25) | $ (0.22) | $ (0.76) | $ (0.60)
Decrease in diluted earnings per share (in USD per share) | $ (0.24) | $ (0.21) | $ (0.74) | $ (0.58)
Costs of sales |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Share-based compensation expense included in Operating earnings | $ 10 | $ 7 | $ 30 | $ 20
Selling, general and administrative expenses |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Share-based compensation expense included in Operating earnings | 28 | 26 | 87 | 72
Research and development expenditures |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Share-based compensation expense included in Operating earnings | $ 14 | $ 12 | $ 43 | $ 34

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- Definition This element represents the increase (decrease) in basic earnings per share attributable to share-based compensation expense. + References No definition available. + Details
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Period Type: | duration

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- Definition This element represents the increase (decrease) in diluted earnings per share attributable to share-based compensation expense. + References No definition available. + Details
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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.F) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479830/718-10-S99-1 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Amount, after tax, of expense for award under share-based payment arrangement. + References No definition available. + Details
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- Definition Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table. + References No definition available. + Details
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- Definition Amount of tax benefit for recognition of expense of award under share-based payment arrangement. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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