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Shareholders' Equity - Additional Information (Details) - USD ($)
$ / shares in Units, shares in Millions, $ in Millions
3 Months Ended 9 Months Ended
Sep. 29, 2019
Sep. 30, 2018
Sep. 29, 2019
Sep. 30, 2018
Dec. 05, 2018
Equity [Abstract]          
Stock repurchase program, number of shares authorized to be repurchased         10.0
Stock repurchased during the period (shares)     1.1 2.5  
Stock repurchased during the period, value     $ 184 $ 522  
Remaining number of shares authorized to be repurchased (shares) 6.4   6.4    
Shares remaining to be repurchased as a percent of total shares outstanding 2.00%   2.00%    
Dividends declared per share $ 1.02 $ 0.93 $ 3.06 $ 2.79  
Dividends paid in cash $ 295 $ 275 $ 858 $ 801  
Recognized net actuarial losses (pretax)     232 280  
Amortization of prior service credit (pretax)     $ 16 $ 36