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Share-Based Compensation Plans
 9 Months Ended
Sep. 30, 2023
Share-Based Payment Arrangement [Abstract]  
Share-Based Compensation Plans Share-Based Compensation Plans
Compensation expense for the Company’s share-based plans was as follows: 
 Three Months EndedNine Months Ended
September 30, 2023October 1, 2022September 30, 2023October 1, 2022
Share-based compensation expense included in:
Costs of sales$10 $7 $30 $20 
Selling, general and administrative expenses28 26 87 72 
Research and development expenditures14 12 43 34 
Share-based compensation expense included in Operating earnings52 45 160 126 
Tax benefit(11)(9)(33)(26)
Share-based compensation expense, net of tax$41 $36 $127 $100 
Decrease in basic earnings per share$(0.25)$(0.22)$(0.76)$(0.60)
Decrease in diluted earnings per share$(0.24)$(0.21)$(0.74)$(0.58)
During the nine months ended September 30, 2023, the Company granted 0.7 million restricted stock units (RSUs), 0.1 million performance stock units (PSUs) and 0.1 million market stock units (MSUs) with an aggregate grant-date fair value of $172 million, $24 million and $13 million, respectively, and 0.1 million stock options and 0.1 million performance options (POs) with an aggregate grant-date fair value of $7 million and $13 million, respectively. The share-based compensation expense will generally be recognized over the vesting period of three years.