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Notes payable and long-term debt (Tables)
 9 Months Ended
Sep. 26, 2020
Debt Disclosure [Abstract]  
Components of Notes Payable
The following table presents the components of notes payable at September 26, 2020 and December 28, 2019:
 September 26, 2020December 28, 2019
(millions)Principal
amount		Effective
interest rate 		Principal
amount		Effective
interest rate
U.S. commercial paper$— — %$3 1.78 %
Bank borrowings116 104 
Total$116 $107