CONSOLIDATED STATEMENTS OF STOCKHOLDERS' EQUITY (Parenthetical) - $ / shares	3 Months Ended								12 Months Ended
	Dec. 31, 2020	Sep. 27, 2020	Jun. 28, 2020	Mar. 29, 2020	Dec. 31, 2019	Sep. 29, 2019	Jun. 30, 2019	Mar. 31, 2019	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Common stock
Dividends paid per share (USD per share)	$ 0.804	$ 0.804	$ 0.773	$ 0.773	$ 0.773	$ 0.773	$ 0.722	$ 0.722	$ 3.154	$ 2.990	$ 2.756
Class B common stock
Dividends paid per share (USD per share)	$ 0.731	$ 0.731	$ 0.702	$ 0.702	$ 0.702	$ 0.702	$ 0.656	$ 0.656	$ 2.866	$ 2.716	$ 2.504