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Stock-based Compensation and Other Stock Plans - Summary of Changes in Stock Options (Details) - Stock Option $ / shares in Units, shares in Thousands, $ in Millions	9 Months Ended
	Sep. 28, 2019 USD ($) $ / shares shares
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]
Beginning balance (in shares) | shares	3,130
Granted (in shares) | shares	462
Exercised (in shares) | shares	(191)
Forfeited or expired (in shares) | shares	(49)
Ending balance (in shares) | shares	3,352
Exercisable at September 28, 2019 (in shares) | shares	2,404
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]
Beginning balance (in dollars per share) | $ / shares	$ 127.57
Granted (in dollars per share) | $ / shares	155.93
Exercised (in dollars per share) | $ / shares	77.92
Forfeited or expired (in dollars per share) | $ / shares	161.24
Ending balance (in dollars per share) | $ / shares	133.82
Exercisable at September 28, 2019 (in dollars per share) | $ / shares	$ 123.47
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]
Outstanding, remaining contractual term (in years)	6 years 2 months 12 days
Exercisable, remaining contractual term (in years)	5 years 2 months 12 days
Outstanding, aggregate intrinsic value | $	$ 82.8
Exercisable, aggregate intrinsic value | $	$ 82.8

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Share based compensation arrangement by share based payment award options exercisable weighted average remaining contractual terms.

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.

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Weighted average price of options that were either forfeited or expired.

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Net number of share options (or share units) granted during the period.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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Number of options outstanding, including both vested and non-vested options.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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