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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
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Oct. 01, 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 | (16)
Forfeited or expired (in shares) | shares | (49)
Ending balance (in shares) | shares | 407
Exercisable at end of period (in shares) | shares | 260
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 | 146.18
Forfeited or expired (in dollars per share) | $ / shares | 164.83
Ending balance (in dollars per share) | $ / shares | 169.54
Exercisable at end of period (in dollars per share) | $ / shares | $ 155.68
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Additional Disclosures |
Outstanding, remaining contractual term | 6 years 6 months
Exercisable, remaining contractual term | 5 years 2 months 12 days
Outstanding, aggregate intrinsic value | $ | $ 13.7
Exercisable, aggregate intrinsic value | $ | $ 11.9

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- Definition The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(03) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Weighted average remaining contractual term for equity-based awards excluding options, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e)(1) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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