Stock-based Compensation and Other Stock Plans - Summary of Changes in Stock-Settled SARs (Details) - Stock-Settled SARs $ / shares in Units, shares in Thousands, $ in Millions	6 Months Ended
	Jun. 29, 2019 USD ($) $ / shares shares
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]
Beginning balance (in shares) | shares	372
Granted (in shares) | shares	92
Exercised (in shares) | shares	0
Forfeited or expired (in shares) | shares	(5)
Ending balance (in shares) | shares	459
Exercisable (in shares) | shares	278
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]
Beginning balance (in dollars per share) | $ / shares	$ 147.41
Granted (in dollars per share) | $ / shares	155.95
Exercised (in dollars per share) | $ / shares	0
Forfeited or expired (in dollars per share) | $ / shares	152.08
Ending balance (in dollars per share) | $ / shares	149.13
Exercisable (in dollars per share) | $ / shares	$ 142.23
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Additional Disclosures [Abstract]
Outstanding, remaining contractual term	7 years 4 months 24 days
Outstanding, aggregate intrinsic value | $	$ 7.9
Exercisable, remaining contractual term	6 years 4 months 24 days
Exercisable, aggregate intrinsic value | $	$ 6.7