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Stock Incentive and Purchase Plans (Tables) | 12 Months Ended
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Dec. 31, 2022
Free Cash Flow Performance-based DSU Awards, Fair Value Assumptions [Line Items] |
Free Cash Flow Performance-based DSU Awards, Fair Value Assumptions [Table Text Block] | The following table presents our assumptions used in determining the fair value of our AFCF awards currently expected to vest as of December 31, 2022:
| 2022 AFCF |  | 2021 AFCF |  | 2020 AFCF
Fair value, net of forfeitures to date (in millions) | $ | 7 |  |  | $ | 12 |  |  | $ | 6 |
Achievement of target payout | 88 | % |  | 131 | % |  | 89 | %
Year-end stock price used in determining fair value | $ | 46.27 |  |  | $ | 42.48 |  |  | $ | 35.95 |
Schedule of Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Table Text Block] | The following presents the impact of stock-based compensation on our consolidated statements of operations:
| Year Ended December 31,
(in millions, except per share data) | 2022 |  | 2021 |  | 2020
Cost of products sold | $ | 12 |  |  | $ | 11 |  |  | $ | 9 |
Selling, general and administrative expenses | 167 |  |  | 147 |  |  | 130 |
Research and development expenses | 41 |  |  | 36 |  |  | 30 |
| 220 |  |  | 194 |  |  | 170 |
Income tax (benefit) expense | (32) |  |  | (29) |  |  | (28) |
| $ | 188 |  |  | $ | 165 |  |  | $ | 142 |
Net impact per common share - basic | $ | 0.13 |  |  | $ | 0.12 |  |  | $ | 0.10 |
Net impact per common share - assuming dilution | $ | 0.13 |  |  | $ | 0.12 |  |  | $ | 0.10 |
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions [Table Text Block] | We use the Black-Scholes option-pricing model to calculate the grant-date fair value of stock options granted to employees under our stock incentive plans. We calculated the fair value for options granted using the following estimated weighted-average assumptions:
| Year Ended December 31,
| 2022 |  | 2021 |  | 2020
Options granted (in thousands) | 3,287 |  |  | 3,822 |  |  | 3,819 |
Weighted-average exercise price | $ | 44.02 |  |  | $ | 37.69 |  |  | $ | 41.79 |
Weighted-average grant-date fair value | $ | 13.64 |  |  | $ | 10.77 |  |  | $ | 10.44 |
Black-Scholes Assumptions |  |  |  |  |
Expected volatility | 28 | % |  | 29 | % |  | 23 | %
Expected term (in years, weighted) | 6.1 |  | 5.9 |  | 5.8
Risk-free interest rate | 1.42% | - | 3.87% |  | 0.66% | - | 1.20% |  | 0.27% | - | 1.72%
Schedule of Share-based Compensation, Restricted Stock Units Award Activity [Table Text Block] | Information related to non-vested stock awards is as follows:
| Non-Vested Stock Award Units (in thousands) |  | Weighted Average Grant-Date Fair Value
Balance as of December 31, 2019 | 11,079 |  |  | $ | 29 |
Granted | 3,609 |  |  | 41 |
Vested(1) | (4,147) |  |  | 25 |
Forfeited | (554) |  |  | 34 |
Balance as of December 31, 2020 | 9,987 |  |  | $ | 34 |
Granted | 4,240 |  |  | $ | 39 |
Vested(1) | (3,823) |  |  | $ | 31 |
Forfeited | (658) |  |  | 36 |
Balance as of December 31, 2021 | 9,745 |  |  | $ | 37 |
Granted | 3,854 |  |  | $ | 45 |
Vested(1) | (3,482) |  |  | $ | 36 |
Forfeited | (680) |  |  | 44 |
Balance as of December 31, 2022 | 9,438 |  |  | $ | 41 |
(1)The number of shares vested includes shares withheld on behalf of employees to satisfy statutory tax withholding requirements.
Schedule of Share-based Compensation, Employee Stock Purchase Plan, Activity [Table Text Block] | Information related to shares issued or to be issued in connection with the employee stock purchase plan based on employee contributions and the range of purchase prices is as follows:
| Year Ended December 31,
| 2022 |  | 2021 |  | 2020
Shares issued or to be issued (in thousands) | 2,850 |  |  | 2,578 |  |  | 1,387 |
Range of purchase prices | $ | 31.68 |  | - | $ | 32.31 |  |  | $ | 29.98 |  | - | $ | 36.11 |  |  | $ | 29.84 |
Expense recognized (in millions) | $ | 28 |  |  | $ | 24 |  |  | $ | 10 |
Schedule of Unrecognized Compensation Cost, Nonvested Awards [Table Text Block] | We expect to recognize the following future expense for awards outstanding as of December 31, 2022:
| Unrecognized Compensation Cost (in millions) (1) |  | Weighted Average Remaining Vesting Period (in years)
Stock options | $ | 38 |  |  |
Non-vested stock awards | 181 |  |  |
| $ | 219 |  |  | 1.7
(1)Amounts presented represent compensation cost, net of estimated forfeitures.
Market-based awards, valuation assumptions [Table Text Block] | We determined the fair value of the market-based RSU and DSU awards to be approximately $12 million for 2022, $11 million for 2021 and $8 million for 2020. We determined these fair values based on Monte Carlo simulations as of the date of grant, utilizing the following assumptions:
| 2022 |  | 2021 |  | 2020
| Awards |  | Awards |  | Awards
Stock price on date of grant | $ | 44.19 |  |  | $ | 37.50 |  |  | $ | 42.16 |
Measurement period (in years) | 2.9 |  | 2.9 |  | 2.9
Risk-free rate | 1.71 | % |  | 0.20 | % |  | 1.37 | %
Share-based Compensation, Stock Options, Activity [Table Text Block] | Information related to stock options under stock incentive plans are as follows:
| Stock Options (in thousands) |  | Weighted Average Exercise Price |  | Weighted Average Remaining Contractual Life (in years) |  | Aggregate Intrinsic Value (in millions)
Outstanding as of December 31, 2019 | 23,065 |  |  | $ | 19 |  |  |  |  |
Granted | 3,819 |  |  | 42 |  |  |  |  |
Exercised | (3,096) |  |  | 13 |  |  |  |  |
Cancelled/forfeited | (666) |  |  | 27 |  |  |  |  |
Outstanding as of December 31, 2020 | 23,122 |  |  | $ | 24 |  |  |  |  |
Granted | 3,822 |  |  | 38 |  |  |  |  |
Exercised | (4,796) |  |  | 13 |  |  |  |  |
Cancelled/forfeited | (699) |  |  | 26 |  |  |  |  |
Outstanding as of December 31, 2021 | 21,448 |  |  | $ | 29 |  |  |  |  |
Granted | 3,287 |  |  | 44 |  |  |  |  |
Exercised | (2,745) |  |  | 17 |  |  |  |  |
Cancelled/forfeited | (502) |  |  | 34 |  |  |  |  |
Outstanding as of December 31, 2022 | 21,489 |  |  | $ | 32 |  |  | 5.9 |  | 297 |
Exercisable as of December 31, 2022 | 13,674 |  |  | 27 |  |  | 4.6 |  | 258 |
Expected to vest as of December 31, 2022 | 7,535 |  |  | 41 |  |  | 8.2 |  | 38 |
Total vested and expected to vest as of December 31, 2022 | 21,209 |  |  | $ | 32 |  |  | 5.9 |  | $ | 296 |

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- Definition Tabular disclosure of allocation of amount expensed and capitalized for award under share-based payment arrangement to statement of income or comprehensive income and statement of financial position. Includes, but is not limited to, corresponding line item in financial statement. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.F) -URI http://asc.fasb.org/extlink&oid=122041274&loc=d3e301413-122809 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 1 -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5047-113901 + Details
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- Definition Tabular disclosure of the number and weighted-average grant date fair value for restricted stock units that were outstanding at the beginning and end of the year, and the number of restricted stock units that were granted, vested, or forfeited during the year. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure for stock option plans. Includes, but is not limited to, outstanding awards at beginning and end of year, grants, exercises, forfeitures, and weighted-average grant date fair value. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure of the significant assumptions used during the year to estimate the fair value of stock options, including, but not limited to: (a) expected term of share options and similar instruments, (b) expected volatility of the entity's shares, (c) expected dividends, (d) risk-free rate(s), and (e) discount for post-vesting restrictions. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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