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
	Jan. 01, 2022 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	3,120
Granted (in shares) | shares	333
Exercised (in shares) | shares	(991)
Forfeited or expired (in shares) | shares	(30)
Outstanding at end of year (in shares) | shares	2,432
Exercisable at end of year (in shares) | shares	1,675
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	$ 142.47
Exercise price per share, granted (in dollars per share) | $ / shares	189.91
Exercise price per share, exercised (in dollars per share) | $ / shares	135.88
Exercise price per share, forfeited or expired (in dollars per share) | $ / shares	168.82
Exercise price per share, outstanding at end of year (in dollars per share) | $ / shares	151.32
Exercise price per share, exercisable at end of year (in dollars per share) | $ / shares	$ 142.82
Remaining contractual term, outstanding at end of year (in years)	5 years 8 months 12 days
Remaining contractual term, exercisable at end of year (in years)	4 years 6 months
Aggregate intrinsic value, outstanding at end of year | $	$ 155.8
Aggregate intrinsic value, exercisable at end of year | $	$ 121.5