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	12 Months Ended
	Jan. 01, 2022 USD ($) $ / shares shares
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]
Outstanding at beginning of year (in shares) | shares	502
Shares granted (in shares) | shares	83
Shares exercised (in shares) | shares	(48)
Shares forfeited or expired (in shares) | shares	(140)
Outstanding at end of year (in shares) | shares	397
Shares, exercisable at end of year (in shares) | shares	227
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Outstanding [Roll Forward]
Exercise price per share, outstanding at beginning of year (in dollars per share) | $ / shares	$ 151.59
Exercise price per share, granted (in dollars per share) | $ / shares	189.89
Exercise price per share, exercised (in dollars per share) | $ / shares	144.38
Exercise price per share, forfeited or expired (in dollars per share) | $ / shares	152.52
Exercise price per share, outstanding at end of year (in dollars per share) | $ / shares	160.09
Exercise price per share, exercisable at end of year (in dollars per share) | $ / shares	$ 151.18
Remaining contractual term, outstanding at end of year (in years)	6 years 8 months 12 days
Remaining contractual term, exercisable at end of year (in years)	5 years 3 months 18 days
Aggregate intrinsic value, outstanding at end of year | $	$ 21.9
Aggregate intrinsic value, exercisable at end of year | $	$ 14.6