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Stock-based Compensation and Other Stock Plans - Stock-Settled SARs, Summary of Weighted-Average Assumptions of Fair Value Granted Using Black-Scholes Valuation Model (Details) - Stock-Settled SARs
6 Months Ended
Jul. 01, 2023
Jul. 02, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Expected term of stock-settled SARs (in years) 4 years 29 days 4 years 7 days
Expected volatility factor 24.68% 23.09%
Expected dividend yield 2.60% 2.68%
Risk-free interest rate 3.87% 1.96%