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CONSOLIDATED STATEMENTS OF STOCKHOLDERS' EQUITY (Parenthetical) - $ / shares
3 Months Ended 9 Months Ended
Oct. 03, 2021
Sep. 27, 2020
Oct. 03, 2021
Sep. 27, 2020
Common stock        
Dividends paid per share (USD per share) $ 0.901 $ 0.804 $ 2.509 $ 2.350
Class B common stock        
Dividends paid per share (USD per share) $ 0.819 $ 0.731 $ 2.281 $ 2.135