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CONSOLIDATED STATEMENTS OF STOCKHOLDERS' EQUITY (Parenthetical) - $ / shares
3 Months Ended 9 Months Ended
Sep. 27, 2020
Sep. 29, 2019
Sep. 27, 2020
Sep. 29, 2019
Common stock        
Dividends paid per share (USD per share) $ 0.804 $ 0.773 $ 2.350 $ 2.217
Class B common stock        
Dividends paid per share (USD per share) $ 0.731 $ 0.702 $ 2.135 $ 2.014