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Share-Based Compensation - Performance Share Units (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Millions
3 Months Ended
Apr. 03, 2021
Apr. 04, 2020
Fair value    
Cash paid $ 6 $ 7
Performance Share Units    
Number of Units    
Outstanding at beginning of period, nonvested (in shares) 514  
Granted (in shares) 256  
Outstanding at end of period, nonvested (in shares) 770  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]    
Outstanding at beginning of period, nonvested (in dollars per share) $ 47.02  
Granted (in dollars per share) 51.56  
Outstanding at end of period, nonvested (in dollars per share) $ 48.52