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Stock-based Compensation and Other Stock Plans - (Tables)
6 Months Ended
Jun. 29, 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 period ended July 1, 2023, and the six month periods ended June 29, 2024, and July 1, 2023, using the Black-Scholes valuation model; no stock options were granted during the three month period ended June 29, 2024:

Three Months EndedSix Months Ended
June 29, 2024July 1, 2023June 29, 2024July 1, 2023
Expected term of stock option (in years)
N/A3.804.904.89
Expected volatility factorN/A24.52%23.63%23.99%
Expected dividend yieldN/A2.48%2.76%2.60%
Risk-free interest rateN/A3.63%4.30%3.99%
N/A: Not applicable
Schedule of Stock Option Activity
Below is a summary of stock option activity as of and for the six months ended June 29, 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(206)170.74 
Forfeited or expired(26)243.37 
Outstanding at June 29, 20241,917 188.75 5.5$141.0 
Exercisable at June 29, 20241,464 169.08 4.4135.1 
*Weighted-average
Schedule of Changes in Non-Vested Performance Awards
Changes to the company’s non-vested PSUs during the six months ended June 29, 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 **(15)211.67 
Vested— — 
Cancellations and other(6)251.12 
Non-vested PSUs at June 29, 2024209 237.92 
*Weighted-average
**Reflects the number of PSUs adjusted based on performance metrics.
Schedule of Non-vested Restricted Stock Units Activity
Changes to the company’s non-vested RSUs during the six months ended June 29, 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(2)250.50 
Non-vested RSUs at June 29, 202473 242.27 
*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 six months ended June 29, 2024, and July 1, 2023, using the Black-Scholes valuation model:
 Six Months Ended
 June 29, 2024July 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 six months ended June 29, 2024, and July 1, 2023, using the Black-Scholes valuation model:
Six Months Ended
June 29, 2024July 1, 2023
Expected term of cash-settled SARs (in years)
3.883.80
Expected volatility factor23.54%24.06%
Expected dividend yield2.85%2.25%
Risk-free interest rate4.52%4.49%
Schedule of Changes in SARs
Below is a summary of stock-settled SARs as of and for the six months ended June 29, 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(11)160.40 
Forfeited or expired(20)186.61 
Outstanding at June 29, 2024353 205.08 6.7$20.4 
Exercisable at June 29, 2024228 178.99 5.518.8 
*Weighted-average
Changes to the company’s non-vested cash-settled SARs during the six months ended June 29, 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 
Granted46.37 
Vested(1)62.37 
Non-vested cash-settled SARs at June 29, 202450.07 
*Weighted-average