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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
12 Months Ended
Dec. 28, 2019
USD ($)
$ / shares
shares
Share-based Compensation Arrangement by Share-based Payment Award, Options, Nonvested, Number of Shares [Roll Forward]  
Outstanding at beginning of year (in shares) | shares 3,130
Granted (in shares) | shares 462
Exercised (in shares) | shares (422)
Forfeited or expired (in shares) | shares (56)
Outstanding at end of year (in shares) | shares 3,114
Exercisable at end of year (in shares) | shares 2,173
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]  
Exercise price per share, outstanding at beginning of year (in dollars per share) | $ / shares $ 127.57
Exercise price per share, granted (in dollars per share) | $ / shares 155.93
Exercise price per share, exercised (in dollars per share) | $ / shares 94.95
Exercise price per share, forfeited or expired (in dollars per share) | $ / shares 161.10
Exercise price per share, outstanding at end of year (in dollars per share) | $ / shares 135.60
Exercise price per share, exercisable at end of year (in dollars per share) | $ / shares $ 125.00
Remaining contractual term, outstanding at end of year (in years) 6 years 1 month 6 days
Remaining contractual term, exercisable at end of year (in years) 5 years
Aggregate intrinsic value, outstanding at end of year | $ $ 104.6
Aggregate intrinsic value, exercisable at end of year | $ $ 96.0