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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
3 Months Ended
Mar. 28, 2020
USD ($)
$ / shares
shares
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]  
Beginning balance (in shares) | shares 3,114
Granted (in shares) | shares 459
Exercised (in shares) | shares (17)
Forfeited or expired (in shares) | shares (9)
Ending balance (in shares) | shares 3,547
Exercisable at September 28, 2019 (in shares) | shares 2,637
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]  
Beginning balance (in dollars per share) | $ / shares $ 135.60
Granted (in dollars per share) | $ / shares 155.34
Exercised (in dollars per share) | $ / shares 83.61
Forfeited or expired (in dollars per share) | $ / shares 159.17
Ending balance (in dollars per share) | $ / shares 138.36
Exercisable at September 28, 2019 (in dollars per share) | $ / shares $ 132.11
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 | $ $ 22.1
Exercisable, aggregate intrinsic value | $ $ 22.1