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Stock-based Compensation and Other Stock Plans - Summary of Changes in Stock Options (Details) - Stock Option - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended 6 Months Ended
Jul. 03, 2021
Jul. 02, 2022
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]    
Beginning balance (in shares)   2,432,000
Granted (in shares) 0 289,000
Exercised (in shares)   (118,000)
Forfeited or expired (in shares)   (16,000)
Ending balance (in shares)   2,587,000
Exercisable at end of period (in shares)   1,954,000
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price    
Beginning balance (in dollars per share)   $ 151.32
Granted (in dollars per share)   211.41
Exercised (in dollars per share)   131.85
Forfeited or expired (in dollars per share)   183.40
Ending balance (in dollars per share)   158.72
Exercisable at end of period (in dollars per share)   $ 147.97
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures    
Outstanding, remaining contractual term (in years)   5 years 8 months 12 days
Exercisable, remaining contractual term (in years)   4 years 8 months 12 days
Outstanding, aggregate intrinsic value   $ 106.0
Exercisable, aggregate intrinsic value   $ 98.2