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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. 27, 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 (60)
Forfeited or expired (in shares) | shares (13)
Ending balance (in shares) | shares 3,500
Exercisable at June 27, 2020 (in shares) | shares 2,590
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price  
Beginning balance (in dollars per share) | $ / shares $ 135.60
Granted (in dollars per share) | $ / shares 155.34
Exercised (in dollars per share) | $ / shares 65.96
Forfeited or expired (in dollars per share) | $ / shares 161.36
Ending balance (in dollars per share) | $ / shares 139.31
Exercisable at June 27, 2020 (in dollars per share) | $ / shares $ 133.28
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures  
Outstanding, remaining contractual term (in years) 6 years 2 months 12 days
Exercisable, remaining contractual term (in years) 5 years 2 months 12 days
Outstanding, aggregate intrinsic value | $ $ 38.9
Exercisable, aggregate intrinsic value | $ $ 38.9