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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. 26, 2020
Sep. 28, 2019
Sep. 26, 2020
Sep. 28, 2019
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]        
Share-based compensation expense included in Operating earnings $ 31 $ 30 $ 100 $ 87
Tax benefit (5) (5) (17) (16)
Share-based compensation expense, net of tax $ 26 $ 25 $ 83 $ 71
Decrease in basic earnings per share (in USD per share) $ (0.15) $ (0.15) $ (0.49) $ (0.43)
Decrease in diluted earnings per share (in USD per share) $ (0.15) $ (0.14) $ (0.48) $ (0.40)
Costs of sales        
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]        
Share-based compensation expense included in Operating earnings $ 3 $ 3 $ 12 $ 11
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 16 57 46
Research and development expenditures        
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]        
Share-based compensation expense included in Operating earnings $ 10 $ 11 $ 31 $ 30