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Stock-based Compensation and Other Stock Plans - (Tables)
3 Months Ended
Mar. 30, 2024
Share-Based Payment Arrangement [Abstract]  
Schedule of Weighted-Average Assumptions of Fair Value Granted Using Black-Scholes Valuation Model
The following weighted-average assumptions were used in calculating the fair value of stock options granted during the three month periods ended March 30, 2024, and April 1, 2023, using the Black-Scholes valuation model:

Three Months Ended
March 30, 2024April 1, 2023
Expected term of stock option (in years)
4.904.90
Expected volatility factor23.63%23.99%
Expected dividend yield2.76%2.60%
Risk-free interest rate4.30%3.99%
Schedule of Stock Option Activity
Below is a summary of stock option activity as of and for the three months ended March 30, 2024:

Shares
(in thousands)
Exercise
Price Per
Share*
Remaining
Contractual
Term*
(in years)
Aggregate
Intrinsic
Value
(in millions)
Outstanding at December 30, 20231,916 $177.79 
Granted233 269.01 
Exercised(160)177.15 
Forfeited or expired(9)236.26 
Outstanding at March 30, 20241,980 188.30 5.7$213.7 
Exercisable at March 30, 20241,510 168.43 4.5192.9 
*Weighted-average
Schedule of Changes in Non-Vested Performance Awards
Changes to the company’s non-vested PSUs during the three months ended March 30, 2024, are as follows:
Shares
(in thousands)
Fair Value
Price per
Share*
Non-vested PSUs at December 30, 2023177 $226.81 
Granted53 269.00 
Performance assumption change **— — 
Vested— — 
Cancellations and other— — 
Non-vested PSUs at March 30, 2024230 236.55 
*Weighted-average
**Reflects the number of PSUs above target levels based on performance metrics.
Schedule of Non-vested Restricted Stock Units Activity
Changes to the company’s non-vested RSUs during the three months ended March 30, 2024, are as follows:
Shares
(in thousands)
Fair Value
Price per
Share*
Non-vested RSUs at December 30, 202380 $215.84 
Granted24 269.00 
Vested(29)189.89 
Cancellations and other— — 
Non-vested RSUs at March 30, 202475 242.64 
*Weighted-average
Schedule of Weighted-Average Assumptions of Fair Value Granted Using Black-Scholes Valuation Model
The following weighted-average assumptions were used in calculating the fair value of stock-settled SARs granted during the three months ended March 30, 2024, and April 1, 2023, using the Black-Scholes valuation model:
 Three Months Ended
 March 30, 2024April 1, 2023
Expected term of stock-settled SARs (in years)
4.204.08
Expected volatility factor23.80%24.68%
Expected dividend yield2.77%2.60%
Risk-free interest rate4.22%3.87%
The following weighted-average assumptions were used in calculating the fair value of cash-settled SARs granted during the three months ended March 30, 2024, and April 1, 2023, using the Black-Scholes valuation model:
Three Months Ended
March 30, 2024April 1, 2023
Expected term of cash-settled SARs (in years)
4.133.96
Expected volatility factor23.76%24.42%
Expected dividend yield2.51%2.62%
Risk-free interest rate4.21%3.60%
Schedule of Changes in SARs
Below is a summary of stock-settled SARs as of and for the three months ended March 30, 2024:
Stock-settled
SARs
(in thousands)
Exercise
Price Per
Share*
Remaining
Contractual
Term*
(in years)
Aggregate
Intrinsic
Value
(in millions)
Outstanding at December 30, 2023321 $189.93 
Granted63 269.00 
Exercised(10)161.95 
Forfeited or expired(18)186.44 
Outstanding at March 30, 2024356 204.88 7.0$32.5 
Exercisable at March 30, 2024229 178.82 5.826.9 
*Weighted-average
Changes to the company’s non-vested cash-settled SARs during the three months ended March 30, 2024, are as follows:
Cash-settled
SARs
(in thousands)
Fair Value
Price per
Share*
Non-vested cash-settled SARs at December 30, 2023$79.16 
Granted70.16 
Vested(1)93.05 
Non-vested cash-settled SARs at March 30, 202476.13 
*Weighted-average