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Stock-based Compensation and Other Stock Plans - Schedule of Changes in Stock Options (Details) - Stock Option
$ / shares in Units, shares in Thousands, $ in Millions
6 Months Ended
Jul. 01, 2023
USD ($)
$ / shares
shares
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]  
Beginning balance (in shares) | shares 2,349
Granted (in shares) | shares 241
Exercised (in shares) | shares (450)
Forfeited or expired (in shares) | shares (18)
Ending balance (in shares) | shares 2,122
Exercisable at end of period (in shares) | shares 1,609
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price  
Beginning balance (in dollars per share) | $ / shares $ 163.07
Granted (in dollars per share) | $ / shares 249.28
Exercised (in dollars per share) | $ / shares 152.60
Forfeited or expired (in dollars per share) | $ / shares 215.97
Ending balance (in dollars per share) | $ / shares 174.65
Exercisable at end of period (in dollars per share) | $ / shares $ 158.64
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures  
Outstanding, remaining contractual term (in years) 5 years 7 months 6 days
Exercisable, remaining contractual term (in years) 4 years 6 months
Outstanding, aggregate intrinsic value | $ $ 240.9
Exercisable, aggregate intrinsic value | $ $ 208.4