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Retirement Plans (Details) - USD ($)
$ in Millions
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Oct. 01, 2022
Sep. 30, 2023
Oct. 01, 2022
Pension Benefits        
Net periodic benefit income        
Service cost $ 17 $ 28 $ 50 $ 81
Interest cost 91 68 273 205
Expected return on plan assets (152) (152) (457) (458)
Amortization of net actuarial loss 0 22 1 66
Amortization of prior service cost 3 3 9 9
Net periodic benefit income (41) (31) (124) (97)
Pension Benefits | United States        
Net periodic benefit income        
Cost associated with the defined contribution component 2 2 8 9
Postretirement Benefits Other Than Pensions        
Net periodic benefit income        
Service cost 1 1 2 2
Interest cost 2 1 6 4
Amortization of net actuarial loss (2) (1) (6) (3)
Amortization of prior service cost (1) (1) (3) (3)
Net periodic benefit income $ 0 $ 0 $ (1) $ 0