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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
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