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Stock-based Compensation and Other Stock Plans - Schedule of Changes in Stock-Settled SARs (Details) - Stock-Settled SARs
$ / 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, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]  
Beginning balance (in shares) | shares 385
Granted (in shares) | shares 62
Exercised (in shares) | shares (46)
Forfeited or expired (in shares) | shares (71)
Ending balance (in shares) | shares 330
Exercisable at end of period (in shares) | shares 199
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 $ 170.11
Granted (in dollars per share) | $ / shares 249.26
Exercised (in dollars per share) | $ / shares 151.92
Forfeited or expired (in dollars per share) | $ / shares 161.41
Ending balance (in dollars per share) | $ / shares 189.32
Exercisable at end of period (in dollars per share) | $ / shares $ 165.46
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Additional Disclosures  
Outstanding, remaining contractual term 6 years 10 months 24 days
Exercisable, remaining contractual term 5 years 7 months 6 days
Outstanding, aggregate intrinsic value | $ $ 32.6
Exercisable, aggregate intrinsic value | $ $ 24.4