Restructuring - Narrative (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jul. 02, 2023	Jun. 30, 2024	Jul. 02, 2023
Restructuring Cost and Reserve [Line Items]
Restructuring charges	$ (13)	$ 145	$ 151	$ 275
R&D Restructuring Plan
Restructuring Cost and Reserve [Line Items]
Restructuring income	100
Restructuring charges		$ 100	100	$ 300
Restructuring charges recorded to date	600		600
Orthopedics Restructuring Plan
Restructuring Cost and Reserve [Line Items]
Restructuring charges	100		100
Restructuring charges recorded to date	400		400
Orthopedics Restructuring Plan | Minimum
Restructuring Cost and Reserve [Line Items]
Restructuring estimated cost	700		700
Orthopedics Restructuring Plan | Maximum
Restructuring Cost and Reserve [Line Items]
Restructuring estimated cost	$ 800		$ 800