The literal control only exists on the server side, when the page is rendered it's only the text of the control that ends up in the page. So if you have:
The company name is <asp:Literal ID="litCompanyName" runat="server" Text="Google" />
all that ends up in the HTML code is:
The company name is Google
To access the text from Javascript you need an element around the text, for example:
<span id="CompanyName"><asp:Literal ID="litCompanyName" runat="server" /></span>
Now you can use document.getElementById('CompanyName').innerHTML to get the text from the literal.