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Stock-based Compensation and Other Stock Plans - Summary of Changes in Stock-Settled SARs (Details) - Stock-Settled SARs
$ / 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, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]  
Beginning balance (in shares) | shares 372
Granted (in shares) | shares 92
Exercised (in shares) | shares (1)
Forfeited or expired (in shares) | shares (6)
Ending balance (in shares) | shares 457
Exercisable (in shares) | shares 277
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]  
Beginning balance (in dollars per share) | $ / shares $ 147.41
Granted (in dollars per share) | $ / shares 155.95
Exercised (in dollars per share) | $ / shares 96.57
Forfeited or expired (in dollars per share) | $ / shares 150.14
Ending balance (in dollars per share) | $ / shares 149.19
Exercisable (in dollars per share) | $ / shares $ 142.29
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Additional Disclosures [Abstract]  
Outstanding, remaining contractual term 7 years 2 months 12 days
Outstanding, aggregate intrinsic value | $ $ 4.6
Exercisable, remaining contractual term 6 years 2 months 12 days
Exercisable, aggregate intrinsic value | $ $ 4.6