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Share-Based Compensation - Summary of Reflexis Replacement Options (Details) - Reflexis Replacement Options
$ / shares in Units, $ in Millions
6 Months Ended
Jul. 03, 2021
USD ($)
$ / shares
shares
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]  
Outstanding at beginning of period (in shares) | shares 34,424
Granted (in shares) | shares 0
Exercised (in shares) | shares (4,706)
Forfeited (in shares) | shares (1,529)
Outstanding at end of period (in shares) | shares 28,189
Exercisable at end of period (in shares) | shares 14,016
Weighted-Average Exercise Price  
Outstanding at beginning of period (usd per share) | $ / shares $ 58.09
Granted (usd per share) | $ / shares 0
Exercised (usd per share) | $ / shares 58.85
Forfeited (USD per share) | $ / shares 63.01
Outstanding at end of period (usd per share) | $ / shares 57.78
Exercisable at end of period (usd per share) | $ / shares $ 54.88
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]  
Aggregate intrinsic value - outstanding | $ $ 14
Aggregate intrinsic value - exercisable | $ $ 7
Weighted-average remaining contractual life - outstanding 6 years 10 months 24 days
Weighted-average remaining contractual life - exercisable 6 years 7 months 6 days