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Stock-based Compensation and Other Stock Plans - (Tables)
3 Months Ended
Apr. 03, 2021
Share-based Payment Arrangement [Abstract]  
Summary of Weighted-Average Assumptions of Fair Value Granted Using Black-Scholes Valuation Model
The following weighted-average assumptions were used in calculating the fair value of stock options granted during the three months ended April 3, 2021, and March 28, 2020, using the Black-Scholes valuation model:

Three Months Ended
April 3, 2021March 28, 2020
Expected term of option (in years)
5.335.53
Expected volatility factor21.80%21.67%
Expected dividend yield2.59%2.78%
Risk-free interest rate0.67%1.50%
Summary of Stock Option Activity
A summary of stock option activity as of and for the three months ended April 3, 2021, is presented below:

Shares
(in thousands)
Exercise
Price Per
Share*
Remaining
Contractual
Term*
(in years)
Aggregate
Intrinsic
Value
(in millions)
Outstanding at January 2, 20213,120 $142.47 
Granted333 189.91 
Exercised(621)149.90 
Forfeited or expired(1)155.53 
Outstanding at April 3, 20212,831 146.41 6.1$241.6 
Exercisable at April 3, 20212,047 137.33 5.0193.2 

*Weighted-average
Summary of Changes in Non-Vested Performance Awards
Changes to the company’s non-vested PSUs and RSUs during the three months ended April 3, 2021, are as follows:

Shares
(in thousands)
Fair Value
Price per
Share*
Non-vested performance awards at January 2, 202176 $155.61 
Granted121 188.72 
Vested— — 
Cancellations and other— — 
Non-vested performance awards at April 3, 2021197 175.90 

*Weighted-average
Summary of Weighted-Average Assumptions of Fair Value Granted Using Black-Scholes Valuation Model
The following weighted-average assumptions were used in calculating the fair value of stock-settled SARs granted during the three months ended April 3, 2021, and March 28, 2020, using the Black-Scholes valuation model:

 Three Months Ended
 April 3, 2021March 28, 2020
Expected term of stock-settled SARs (in years)
3.943.75
Expected volatility factor22.50%22.50%
Expected dividend yield2.59%2.78%
Risk-free interest rate0.19%1.42%
The following weighted-average assumptions were used in calculating the fair value of cash-settled SARs granted during the three months ended April 3, 2021, and March 28, 2020, using the Black-Scholes valuation model:
Three Months Ended
April 3, 2021March 28, 2020
Expected term of cash-settled SARs (in years)
3.833.66
Expected volatility factor22.49%27.06%
Expected dividend yield2.12%4.01%
Risk-free interest rate0.39%0.30%
Summary of Changes in SARs
Changes to the company’s stock-settled SARs during the three months ended April 3, 2021, are as follows:

Stock-settled
SARs
(in thousands)
Exercise
Price Per
Share*
Remaining
Contractual
Term*
(in years)
Aggregate
Intrinsic
Value
(in millions)
Outstanding at January 2, 2021502 $151.59 
Granted83 189.89 
Exercised(38)143.06 
Forfeited or expired(121)152.09 
Outstanding at April 3, 2021426 159.64 7.3$30.7 
Exercisable at April 3, 2021255 151.29 6.020.5 

*Weighted-average
Changes to the company’s non-vested cash-settled SARs during the three months ended April 3, 2021, are as follows:

Cash-settled
SARs
(in thousands)
Fair Value
Price per
Share*
Non-vested cash-settled SARs at January 2, 2021$36.99 
Granted24.05 
Vested(1)69.68 
Non-vested cash-settled SARs at April 3, 202147.56 

*Weighted-average