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Share-Based Compensation Plans - Schedule of Compensation Expense (Details) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2018
Jul. 01, 2017
Jun. 30, 2018
Jul. 01, 2017
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]        
Share-based compensation expense included in Operating earnings $ 17 $ 16 $ 34 $ 33
Tax benefit 4 5 8 11
Share-based compensation expense, net of tax $ 13 $ 11 $ 26 $ 22
Decrease in basic earnings per share (in US$ per share) $ (0.08) $ (0.07) $ (0.16) $ (0.13)
Decrease in diluted earnings per share (in US$ per share) $ (0.08) $ (0.07) $ (0.15) $ (0.13)
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 $ 5 $ 4
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 11 21 22
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 $ 8 $ 7