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Share-Based Compensation Plans - Schedule of Compensation Expense (Details) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2017
Oct. 01, 2016
Sep. 30, 2017
Oct. 01, 2016
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]        
Share-based compensation expense included in Operating earnings $ 16 $ 17 $ 49 $ 52
Tax benefit 5 5 16 16
Share-based compensation expense, net of tax $ 11 $ 12 $ 33 $ 36
Decrease in basic earnings per share (in US$ per share) $ (0.07) $ (0.07) $ (0.20) $ (0.21)
Decrease in diluted earnings per share (in US$ per share) $ (0.07) $ (0.07) $ (0.19) $ (0.21)
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 $ 7 $ 7
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 32 35
Research and development expenditures        
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]        
Share-based compensation expense included in Operating earnings $ 3 $ 3 $ 10 $ 10