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Stock-based Compensation and Other Stock Plans - Summary of Changes in Stock Options (Details) - Stock Option
$ / shares in Units, shares in Thousands, $ in Millions
3 Months Ended
Apr. 03, 2021
USD ($)
$ / shares
shares
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]  
Beginning balance (in shares) | shares 3,120
Granted (in shares) | shares 333
Exercised (in shares) | shares (621)
Forfeited or expired (in shares) | shares (1)
Ending balance (in shares) | shares 2,831
Exercisable at end of period (in shares) | shares 2,047
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price  
Beginning balance (in dollars per share) | $ / shares $ 142.47
Granted (in dollars per share) | $ / shares 189.91
Exercised (in dollars per share) | $ / shares 149.90
Forfeited or expired (in dollars per share) | $ / shares 155.53
Ending balance (in dollars per share) | $ / shares 146.41
Exercisable at end of period (in dollars per share) | $ / shares $ 137.33
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures  
Outstanding, remaining contractual term (in years) 6 years 1 month 6 days
Exercisable, remaining contractual term (in years) 5 years
Outstanding, aggregate intrinsic value | $ $ 241.6
Exercisable, aggregate intrinsic value | $ $ 193.2