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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
 12 Months Ended
Jan. 02, 2021
USD ($)
$ / shares
shares
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]  
Outstanding at beginning of year (in shares) | shares 450
Shares granted (in shares) | shares 92
Shares exercised (in shares) | shares (7)
Shares forfeited or expired (in shares) | shares (33)
Outstanding at end of year (in shares) | shares 502
Shares, exercisable at end of year (in shares) | shares 325
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Outstanding [Roll Forward]  
Exercise price per share, outstanding at beginning of year (in dollars per share) | $ / shares $ 149.18
Exercise price per share, granted (in dollars per share) | $ / shares 155.34
Exercise price per share, exercised (in dollars per share) | $ / shares 112.50
Exercise price per share, forfeited or expired (in dollars per share) | $ / shares 138.12
Exercise price per share, outstanding at end of year (in dollars per share) | $ / shares 151.59
Exercise price per share, exercisable at end of year (in dollars per share) | $ / shares $ 148.93
Remaining contractual term, outstanding at end of year (in years) 6 years 7 months 6 days
Remaining contractual term, exercisable at end of year (in years) 5 years 7 months 6 days
Aggregate intrinsic value, outstanding at end of year | $ $ 9.8
Aggregate intrinsic value, exercisable at end of year | $ $ 7.2