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CONDENSED CONSOLIDATED STATEMENTS OF EQUITY (Parenthetical) - $ / shares | 3 Months Ended | 6 Months Ended
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Jul. 01, 2023 | Jul. 02, 2022 | Jul. 01, 2023 | Jul. 02, 2022
Statement of Stockholders' Equity [Abstract] |  |  |  |
Cash dividends per share (in dollars per share) | $ 1.62 | $ 1.42 | $ 3.24 | $ 2.84
Share repurchases (in shares) | 359,000 | 251,000 | 715,000 | 387,000

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