Common stock, stock option plans and stock compensation agreements - Summary of Options Outstanding (Details) - $ / shares shares in Thousands	12 Months Ended
	Dec. 31, 2023	Jan. 01, 2023	Jan. 02, 2022
Stock options outstanding and exercisable
Outstanding number of Options (in shares)	112,238	118,672	117,361
Outstanding, Average Life	5 years 6 months	5 years 9 months 18 days	5 years 9 months 18 days
Outstanding Average Exercise Price (in dollars per share)	$ 139.88
Exercisable number of Options (in shares)	66,998
Exercisable, Average Exercise Price (in dollars per share)	$ 123.39
$90.44 - $101.87
Stock options outstanding and exercisable
Price Range, Minimum (in dollars per share)	90.44
Price Range, Maximum (in dollars per share)	$ 101.87
Outstanding number of Options (in shares)	20,774
Outstanding, Average Life	1 year 4 months 24 days
Outstanding Average Exercise Price (in dollars per share)	$ 99.21
Exercisable number of Options (in shares)	20,774
Exercisable, Average Exercise Price (in dollars per share)	$ 99.21
$115.67 - $129.51
Stock options outstanding and exercisable
Price Range, Minimum (in dollars per share)	115.67
Price Range, Maximum (in dollars per share)	$ 129.51
Outstanding number of Options (in shares)	19,368
Outstanding, Average Life	3 years 7 months 6 days
Outstanding Average Exercise Price (in dollars per share)	$ 122.49
Exercisable number of Options (in shares)	19,368
Exercisable, Average Exercise Price (in dollars per share)	$ 122.49
$131.94 - $151.41
Stock options outstanding and exercisable
Price Range, Minimum (in dollars per share)	131.94
Price Range, Maximum (in dollars per share)	$ 151.41
Outstanding number of Options (in shares)	27,391
Outstanding, Average Life	5 years 7 months 6 days
Outstanding Average Exercise Price (in dollars per share)	$ 142.84
Exercisable number of Options (in shares)	26,676
Exercisable, Average Exercise Price (in dollars per share)	$ 142.61
$162.70 - $162.75
Stock options outstanding and exercisable
Price Range, Minimum (in dollars per share)	162.70
Price Range, Maximum (in dollars per share)	$ 162.75
Outstanding number of Options (in shares)	13,928
Outstanding, Average Life	9 years 1 month 6 days
Outstanding Average Exercise Price (in dollars per share)	$ 162.75
Exercisable number of Options (in shares)	6
Exercisable, Average Exercise Price (in dollars per share)	$ 162.75
$164.62 - $165.89
Stock options outstanding and exercisable
Price Range, Minimum (in dollars per share)	164.62
Price Range, Maximum (in dollars per share)	$ 165.89
Outstanding number of Options (in shares)	30,777
Outstanding, Average Life	7 years 7 months 6 days
Outstanding Average Exercise Price (in dollars per share)	$ 165.29
Exercisable number of Options (in shares)	174
Exercisable, Average Exercise Price (in dollars per share)	$ 165.12