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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
Oct. 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]  
Beginning balance (in shares) | shares 502
Granted (in shares) | shares 83
Exercised (in shares) | shares (48)
Forfeited or expired (in shares) | shares (139)
Ending balance (in shares) | shares 398
Exercisable at end of period (in shares) | shares 228
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value  
Beginning balance (in dollars per share) | $ / shares $ 151.59
Granted (in dollars per share) | $ / shares 189.89
Exercised (in dollars per share) | $ / shares 144.68
Forfeited or expired (in dollars per share) | $ / shares 152.63
Ending balance (in dollars per share) | $ / shares 159.99
Exercisable at end of period (in dollars per share) | $ / shares $ 151.04
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Additional Disclosures  
Outstanding, remaining contractual term 6 years 10 months 24 days
Exercisable, remaining contractual term 5 years 7 months 6 days
Outstanding, aggregate intrinsic value | $ $ 19.7
Exercisable, aggregate intrinsic value | $ $ 13.3