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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
Oct. 01, 2022
USD ($)
$ / shares
shares
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]  
Beginning balance (in shares) | shares 2,432
Granted (in shares) | shares 289
Exercised (in shares) | shares (232)
Forfeited or expired (in shares) | shares (16)
Ending balance (in shares) | shares 2,473
Exercisable at end of period (in shares) | shares 1,840
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price  
Beginning balance (in dollars per share) | $ / shares $ 151.32
Granted (in dollars per share) | $ / shares 211.41
Exercised (in dollars per share) | $ / shares 122.21
Forfeited or expired (in dollars per share) | $ / shares 183.40
Ending balance (in dollars per share) | $ / shares 160.86
Exercisable at end of period (in dollars per share) | $ / shares $ 150.18
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures  
Outstanding, remaining contractual term (in years) 5 years 7 months 6 days
Exercisable, remaining contractual term (in years) 4 years 7 months 6 days
Outstanding, aggregate intrinsic value | $ $ 103.1
Exercisable, aggregate intrinsic value | $ $ 94.2