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Summary of Stock Option Grants (Details) - USD ($)
$ / shares in Units, shares in Millions, $ in Millions
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Shares in millions      
Outstanding at beginning of year (in shares) 13.4 14.6 16.6
Granted (in shares) 2.1 1.8 2.0
Exercised (in shares) (2.4) (2.8) (3.6)
Forfeited/expired (in shares) (1.1) (0.2) (0.4)
Outstanding at end of year (in shares) 12.0 13.4 14.6
Exercisable at end of year (in shares) 7.8 8.8 9.2
Weighted- average exercise price      
Outstanding at beginning of year (in dollars per share) $ 139.44 $ 124.21 $ 113.06
Granted (in dollars per share) 215.73 214.18 175.17
Exercised (in dollars per share) 115.29 104.58 97.70
Forfeited/expired (in dollars per share) 160.50 184.69 154.65
Outstanding at end of year (in dollars per share) 156.13 $ 139.44 $ 124.21
Exercisable at end of year (in dollars per share) $ 130.70    
Weighted- average remaining contractual life in years      
Outstanding at end of year 5 years 9 months 18 days    
Exercisable at end of year 4 years 6 months    
Aggregate intrinsic value in millions      
Outstanding at end of year $ 1,343.7    
Exercisable at end of year $ 1,078.2