Stock-based Compensation and Other Stock Plans - Schedule of Changes in Stock-Settled SARs (Details) - Stock-Settled SARs $ / shares in Units, shares in Thousands, $ in Millions	3 Months Ended
	Mar. 30, 2024 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	321
Granted (in shares) | shares	63
Exercised (in shares) | shares	(10)
Forfeited or expired (in shares) | shares	(18)
Ending balance (in shares) | shares	356
Exercisable at end of period (in shares) | shares	229
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value
Beginning balance (in dollars per share) | $ / shares	$ 189.93
Granted (in dollars per share) | $ / shares	269.00
Exercised (in dollars per share) | $ / shares	161.95
Forfeited or expired (in dollars per share) | $ / shares	186.44
Ending balance (in dollars per share) | $ / shares	204.88
Exercisable at end of period (in dollars per share) | $ / shares	$ 178.82
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Additional Disclosures
Outstanding, remaining contractual term	7 years
Exercisable, remaining contractual term	5 years 9 months 18 days
Outstanding, aggregate intrinsic value | $	$ 32.5
Exercisable, aggregate intrinsic value | $	$ 26.9