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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
 3 Months Ended
Apr. 02, 2022
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 397
Granted (in shares) | shares 75
Exercised (in shares) | shares (4)
Forfeited or expired (in shares) | shares (14)
Ending balance (in shares) | shares 454
Exercisable at end of period (in shares) | shares 296
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 $ 160.09
Granted (in dollars per share) | $ / shares 211.67
Exercised (in dollars per share) | $ / shares 155.55
Forfeited or expired (in dollars per share) | $ / shares 162.84
Ending balance (in dollars per share) | $ / shares 168.56
Exercisable at end of period (in dollars per share) | $ / shares $ 155.09
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Additional Disclosures  
Outstanding, remaining contractual term 7 years
Exercisable, remaining contractual term 5 years 9 months 18 days
Outstanding, aggregate intrinsic value | $ $ 16.6
Exercisable, aggregate intrinsic value | $ $ 14.4