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Condensed Consolidated Statements of Equity (Parenthetical) - $ / shares
3 Months Ended
Mar. 30, 2019
Mar. 31, 2018
Statement of Stockholders' Equity [Abstract]    
Net issuances of shares held in treasury in settlement of stock-based compensation (in shares) 280,020 327,498
Number of shares repurchased (in shares) 804,270 829,360
Average price (in dollars per share) $ 146.56 $ 187.41