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Condensed Consolidated Statements of Equity (Unaudited) - Parenthetical - $ / shares
shares in Thousands
6 Months Ended
Jun. 30, 2018
Jul. 01, 2017
Statement of Stockholders' Equity [Abstract]    
Cash dividends per share (in dollars per share) $ 1.64 $ 1.42
Share repurchases (in shares) 646 745