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Stock-Based Compensation - Stock Options (Details) - USD ($) $ / shares in Units, $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2017 | Dec. 31, 2016 | Dec. 31, 2015
Stock Option Program |  |  |
Balance at the beginning of the period | 36,196,232 | 38,552,445 |
Balance at the end of the period |  | 36,196,232 | 38,552,445
Weighted average exercise price - Beginning balance | $ 112.07 | $ 102.01 |
Weighted average exercise price - Ending balance |  | 112.07 | $ 102.01
Share- based compensation assumptions |  |  |
Weighted average exercise price | $ 175.76 | $ 147.87 | $ 165.94
Risk-free interest rate (as a percent) | 2.10% | 1.50% | 1.50%
Dividend yield (as a percent) | 2.50% | 2.50% | 2.50%
Expected volatility (as a percent) | 17.30% | 20.80% | 20.10%
Expected life | 78 months | 77 months | 76 months
Black-Scholes fair value | $ 23.51 | $ 22.47 | $ 23.98
Stock Option Program |  |  |
Stock Option Program |  |  |
Balance at the beginning of the period | 36,196,232 | 38,552,445 | 39,235,557
Granted - Annual | 5,409,628 | 5,591,727 | 5,529,544
Exercised | (6,474,117) | (7,716,141) | (5,978,382)
Forfeited | (166,579) | (231,799) | (234,274)
Balance at the end of the period | 34,965,164 | 36,196,232 | 38,552,445
Options exercisable | 24,281,464 | 25,240,759 | 27,262,062
Options exercisable, exercise price | $ 108.50 | $ 95.65 | $ 85.97
Weighted average exercise price - Beginning balance | 112.07 | 102.01 | 90.38
Weighted average exercise price - Granted - Annual | 175.93 | 147.99 | 165.91
Weighted average exercise price - Exercised | 90.37 | 86.76 | 83.74
Weighted average exercise price - Canceled | 162.36 | 148.43 | 128.99
Weighted average exercise price - Ending balance | $ 125.73 | $ 112.07 | $ 102.01
Weighted average remaining contractual life for options outstanding | 70 months |  |
Weighted average remaining contractual life for options exercisable | 56 months |  |
Aggregate intrinsic value for options outstanding | $ 3,834.0 |  |
Aggregate intrinsic value for options exercisable | $ 3,080.0 |  |
Expiration of annual grants | 10 years |  |
Compensation expense yet to be recognized | $ 67.0 |  |
Expense recognition period | 20 months |  |
Total intrinsic value of stock options exercised | $ 703.0 | $ 608.0 | $ 465.0
Cash received from options exercised | 585.0 | 665.0 | 501.0
Tax benefit realized from exercise of stock options | $ 238.0 | $ 224.0 | $ 172.0
Stock Option Program | Maximum |  |  |
Stock Option Program |  |  |
Vesting period | 3 years |  |
Stock Option Program | Minimum |  |  |
Stock Option Program |  |  |
Vesting period | 1 year |  |

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- Definition Unrecognized cost of unvested share-based compensation awards. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 + Details
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- Definition Weighted average period over which unrecognized compensation is expected to be recognized for equity-based compensation plans, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 + Details
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- Definition Amount of tax benefit from exercise of stock options granted under share-based compensation arrangement. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2A -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=96867065&loc=SL79508275-113901 + Details
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- Definition Period which an employee's right to exercise an award is no longer contingent on satisfaction of either a service condition, market condition or a performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (a)(1) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 + Details
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- Definition The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2)(iii) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 + Details
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- Definition The estimated measure of the percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2)(ii) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 + Details
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- Definition The risk-free interest rate assumption that is used in valuing an option on its own shares. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2)(iv) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 + Details
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- Definition The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iii) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 + Details
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- Definition For presentations that combine terminations, the number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan or that expired. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(3)-(4) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 + Details
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- Definition Weighted average price of options that were either forfeited or expired. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(3)-(4) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 + Details
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- Definition Net number of share options (or share units) granted during the period. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(1) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 + Details
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- Definition The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d)(1) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 + Details
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- Definition Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 + Details
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