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Share-Based Compensation Plans - Schedule of Compensation Expense (Details) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended
Apr. 01, 2017
Apr. 02, 2016
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]    
Share-based compensation expense included in Operating earnings $ 17 $ 17
Tax benefit 6 5
Share-based compensation expense, net of tax $ 11 $ 12
Decrease in basic earnings per share (in US$ per share) $ (0.07) $ (0.07)
Decrease in diluted earnings per share (in US$ per share) $ (0.06) $ (0.07)
Costs of sales    
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]    
Share-based compensation expense included in Operating earnings $ 2 $ 2
Selling, general and administrative expenses    
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]    
Share-based compensation expense included in Operating earnings 11 12
Research and development expenditures    
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]    
Share-based compensation expense included in Operating earnings $ 4 $ 3