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Revenue - Narrative - Contract Assets and Liabilities (Details) - USD ($)
$ in Millions
12 Months Ended
Jan. 01, 2023
Dec. 31, 2023
Revenue from Contract with Customer [Abstract]    
Contract asset $ 17 $ 18
Contract liability 308 329
Contract liabilities, current portion 245 $ 252
Revenue recognized, previously deferred $ 235