Share-Based Compensation - Stock Options (Details) - Stock Options - USD ($) $ / shares in Units, shares in Thousands, $ in Millions	3 Months Ended
	Apr. 04, 2020	Mar. 30, 2019
Share-Based Compensation
Maximum term of options	10 years
Vesting period	3 years
Weighted-average assumptions used in Black-Scholes option-pricing model
Fair value of options at grant date	$ 10.66	$ 14.62
Dividend yield (as a percent)	0.20%	0.20%
Expected volatility (as a percent)	29.30%	26.60%
Risk-free interest rate (as a percent)	1.10%	2.50%
Expected term (in years)	4 years 8 months 12 days	4 years 8 months 12 days
Number of Options
Outstanding at beginning of period (in shares)	8,744
Granted (in shares)	1,728
Exercised (in shares)	(169)
Forfeited or expired (in shares)	(66)
Outstanding at end of period (in shares)	10,237
Exercisable at end of period (in shares)	7,018
Weighted-Average Exercise Price
Outstanding at beginning of period (in dollars per share)	$ 44.00
Granted (in dollars per share)	40.60
Exercised (in dollars per share)	(31.48)
Forfeited or expired (in dollars per share)	(51.93)
Outstanding at end of period (in dollars per share)	43.58
Exercisable at end of period (in dollars per share)	$ 41.83
Additional information
Weighted-average remaining contractual life of outstanding stock options	6 years 2 months 12 days
Weighted-average remaining contractual life of exercisable options	4 years 10 months 24 days
Aggregate intrinsic value of options exercised	$ 3	$ 16