Restructuring - Narrative (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2024	Apr. 02, 2023
Restructuring Cost and Reserve [Line Items]
Restructuring charges	$ 164	$ 130
R&D Restructuring Plan
Restructuring Cost and Reserve [Line Items]
Restructuring charges	144	$ 100
Restructuring charges recorded to date	600
Orthopedics Restructuring Plan
Restructuring Cost and Reserve [Line Items]
Restructuring charges	27
Restructuring charges recorded to date	300
Orthopedics Restructuring Plan | Minimum
Restructuring Cost and Reserve [Line Items]
Restructuring estimated cost	700
Orthopedics Restructuring Plan | Maximum
Restructuring Cost and Reserve [Line Items]
Restructuring estimated cost	$ 800