Stock-based Compensation and Other Stock Plans - Summary of Changes in Stock-Settled SARs (Details) - Stock-Settled SARs $ / 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, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]
Beginning balance (in shares) | shares	450
Granted (in shares) | shares	92
Exercised (in shares) | shares	(1)
Forfeited or expired (in shares) | shares	(6)
Ending balance (in shares) | shares	535
Exercisable at June 27, 2020 (in shares) | shares	355
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value
Beginning balance (in dollars per share) | $ / shares	$ 149.18
Granted (in dollars per share) | $ / shares	155.34
Exercised (in dollars per share) | $ / shares	94.93
Forfeited or expired (in dollars per share) | $ / shares	130.68
Ending balance (in dollars per share) | $ / shares	150.56
Exercisable at June 27, 2020 (in dollars per share) | $ / shares	$ 147.56
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Additional Disclosures
Outstanding, remaining contractual term	7 years
Outstanding, aggregate intrinsic value | $	$ 1.4
Exercisable, remaining contractual term	6 years
Exercisable, aggregate intrinsic value | $	$ 1.4