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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. 27, 2020
Jun. 29, 2019
Jun. 27, 2020
Jun. 29, 2019
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]        
Share-based compensation expense included in Operating earnings $ 31 $ 30 $ 69 $ 57
Tax benefit (5) (5) (11) (10)
Share-based compensation expense, net of tax $ 26 $ 25 $ 58 $ 47
Decrease in basic earnings per share (in USD per share) $ (0.15) $ (0.15) $ (0.34) $ (0.29)
Decrease in diluted earnings per share (in USD per share) $ (0.15) $ (0.14) $ (0.33) $ (0.27)
Costs of sales        
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]        
Share-based compensation expense included in Operating earnings $ 4 $ 3 $ 9 $ 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 18 15 39 31
Research and development expenditures        
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]        
Share-based compensation expense included in Operating earnings $ 9 $ 12 $ 21 $ 19