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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
9 Months Ended
Sep. 26, 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 (106)
Forfeited or expired (in shares) | shares (17)
Ending balance (in shares) | shares 3,450
Exercisable at September 26, 2020 (in shares) | shares 2,545
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 63.43
Forfeited or expired (in dollars per share) | $ / shares 160.03
Ending balance (in dollars per share) | $ / shares 140.33
Exercisable at September 26, 2020 (in dollars per share) | $ / shares $ 134.58
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures  
Outstanding, remaining contractual term (in years) 6 years
Exercisable, remaining contractual term (in years) 5 years
Outstanding, aggregate intrinsic value | $ $ 43.3
Exercisable, aggregate intrinsic value | $ $ 43.3