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Stock-based Compensation and Other Stock Plans - Summary of Changes in Stock Options (Details) - Stock Option
$ / shares in Units, shares in Thousands, $ in Millions
6 Months Ended
Jun. 29, 2019
USD ($)
$ / shares
shares
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]  
Beginning balance (in shares) | shares 3,130
Granted (in shares) | shares 462
Exercised (in shares) | shares (156)
Forfeited or expired (in shares) | shares (49)
Ending balance (in shares) | shares 3,387
Exercisable at June 29, 2019 (in shares) | shares 2,440
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]  
Beginning balance (in dollars per share) | $ / shares $ 127.57
Granted (in dollars per share) | $ / shares 155.93
Exercised (in dollars per share) | $ / shares 84.98
Forfeited or expired (in dollars per share) | $ / shares 161.24
Ending balance (in dollars per share) | $ / shares 132.91
Exercisable at March 30, 2019 (in dollars per share) | $ / shares $ 122.36
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]  
Outstanding, remaining contractual term (in years) 6 years 4 months 24 days
Exercisable, remaining contractual term (in years) 5 years 4 months 24 days
Outstanding, aggregate intrinsic value | $ $ 112.6
Exercisable, aggregate intrinsic value | $ $ 106.8