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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
 12 Months Ended
Dec. 30, 2023
USD ($)
$ / shares
shares
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]  
Outstanding at beginning of year (in shares) | shares 385
Shares granted (in shares) | shares 62
Shares exercised (in shares) | shares (50)
Shares forfeited or expired (in shares) | shares (76)
Outstanding at end of year (in shares) | shares 321
Shares, exercisable at end of year (in shares) | shares 189
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Outstanding [Roll Forward]  
Exercise price per share, outstanding at beginning of year (in dollars per share) | $ / shares $ 170.11
Exercise price per share, granted (in dollars per share) | $ / shares 249.26
Exercise price per share, exercised (in dollars per share) | $ / shares 152.69
Exercise price per share, forfeited or expired (in dollars per share) | $ / shares 162.15
Exercise price per share, outstanding at end of year (in dollars per share) | $ / shares 189.93
Exercise price per share, exercisable at end of year (in dollars per share) | $ / shares $ 165.34
Remaining contractual term, outstanding at end of year (in years) 6 years 6 months
Remaining contractual term, exercisable at end of year (in years) 5 years 1 month 6 days
Aggregate intrinsic value, outstanding at end of year | $ $ 31.8
Aggregate intrinsic value, exercisable at end of year | $ $ 23.4