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Condensed Consolidated Statements of Equity (Unaudited) (Parenthetical) - $ / shares
3 Months Ended
Apr. 03, 2021
Mar. 28, 2020
Statement of Stockholders' Equity [Abstract]    
Cash dividends per share (in dollars per share) $ 1.23 $ 1.08
Share repurchases (in shares) 722,000 349,000