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Stock Incentive and Purchase Plans (Details) - USD ($) $ / shares in Units, $ in Millions | 12 Months Ended |  |  |  |  |
--- | --- | --- | --- | --- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Feb. 17, 2021 | Oct. 01, 2020 | Feb. 18, 2020 | Dec. 31, 2019 | Feb. 21, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Fair value of market based awards | $ 12 | $ 11 | $ 8 |  |  |  |  |
Share Price | $ 46.27 | $ 42.48 | $ 35.95 | $ 44.19 |  | $ 37.50 |  | $ 42.16
Unrecognized Compensation Cost - Stock Options | $ 38 |  |  |  |  |  |  |
Stock Issued During Period, Shares, Employee Stock Purchase Plans | 2,850,000 | 2,578,000 | 1,387,000 |  |  |  |  |
Employee Stock Ownership Plan (ESOP), Weighted Average Purchase Price of Shares Purchased | $ 31.68 | $ 29.98 |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number | 9,438,000 | 9,745,000 | 9,987,000 |  |  |  | 11,079,000 |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value | $ 41 | $ 37 | $ 34 |  |  |  | $ 29 |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period | 3,854,000 | 4,240,000 | 3,609,000 |  |  |  |  |
Measurement period - market based awards | 2 years 10 months 24 days | 2 years 10 months 24 days | 2 years 10 months 24 days |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Risk Free Interest Rate | 1.71% | 0.20% | 1.37% |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value | $ 45 | $ 39 | $ 41 |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period | (3,482,000) | (3,823,000) | (4,147,000) |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period, Weighted Average Grant Date Fair Value | $ 36 | $ 31 | $ 25 |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Forfeited in Period | (680,000) | (658,000) | (554,000) |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Forfeited in Period, Weighted Average Grant Date Fair Value | $ 44 | $ 36 | $ 34 |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number | 21,489,000 | 21,448,000 | 23,122,000 |  |  |  | 23,065,000 |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross | 3,287,000 | 3,822,000 | 3,819,000 |  |  |  |  |
Share-based Compensation Arrangements by Share-based Payment Award, Options, Grants in Period, Weighted Average Exercise Price | $ 44.02 | $ 37.69 | $ 41.79 |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period | (2,745,000) | (4,796,000) | (3,096,000) |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Weighted Average Exercise Price | $ 17 | $ 13 | $ 13 |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Forfeitures and Expirations in Period | (502,000) | (699,000) | (666,000) |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Forfeitures and Expirations in Period, Weighted Average Exercise Price | $ 34 | $ 26 | $ 27 |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Intrinsic Value | $ 297 |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Remaining Contractual Term | 5 years 10 months 24 days |  |  |  |  |  |  |
Stock-based compensation expense | $ 220 | $ 194 | $ 170 |  |  |  |  |
Common Stock, Shares Authorized | 2,000,000,000 | 2,000,000,000 |  |  |  |  |  |
Common Stock, Capital Shares Reserved for Future Issuance | 175,000,000 |  |  |  |  |  |  |
Employee Service Share-based Compensation, Tax Benefit from Compensation Expense | $ (32) | $ (29) | (28) |  |  |  |  |
Share-based compensation, net of tax benefit | $ 188 | $ 165 | $ 142 |  |  |  |  |
compensation expense, per share - basic | $ 0.13 | $ 0.12 | $ 0.10 |  |  |  |  |
compensation expense, per share - diluted | 0.13 | 0.12 | 0.10 |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value | $ 13.64 | $ 10.77 | $ 10.44 |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate | 28.00% | 29.00% | 23.00% |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Term | 6 years 1 month 6 days | 5 years 10 months 24 days | 5 years 9 months 18 days |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Total Intrinsic Value | $ 72 | $ 137 | $ 84 |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price | $ 32 | $ 29 | $ 24 |  |  |  | $ 19 |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Number | 13,674,000 |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Weighted Average Exercise Price | $ 27 |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Weighted Average Remaining Contractual Term | 4 years 7 months 6 days |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Intrinsic Value | $ 258 |  |  |  |  |  |  |
Options expected to vest | 7,535,000 |  |  |  |  |  |  |
Options expected to vest, weighted average exercise price | $ 41 |  |  |  |  |  |  |
Options expected to vest, weighted average remaining contractual life | 8 years 2 months 12 days |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Expected to Vest, Outstanding, Aggregate Intrinsic Value | $ 38 |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Outstanding, Number | 21,209,000 |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Outstanding, Weighted Average Exercise Price | $ 32 |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Outstanding, Weighted Average Remaining Contractual Term | 5 years 10 months 24 days |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Outstanding, Aggregate Intrinsic Value | $ 296 |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period, Total Fair Value | $ 150 | $ 148 | $ 172 |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized | 60,000,000 |  |  |  |  |  |  |
Amount of employees total compensation eligible for GESOP purchase | 10.00% |  |  |  |  |  |  |
Global Employee Stock Purchase Plan - Exercise Amount equivalent to 85% of Fair Market Value of Common Stock at beginning or end of each offering period (whichever is less) | 85.00% |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant | 11,000,000 |  |  |  |  |  |  |
Unrecognized Compensation Cost - Non-vested stock awards | $ 181 |  |  |  |  |  |  |
Unrecognized Compensation Cost | $ 219 |  |  |  |  |  |  |
weighted average remaining vesting period | 1 year 8 months 12 days |  |  |  |  |  |  |
annualweightedaverageforfeiturerate | 5.00% |  |  |  |  |  |  |
Voting power of all classes of stock | 10.00% |  |  |  |  |  |  |
Exercise price of the fair market value of our common stock on the date of grant | 110.00% |  |  |  |  |  |  |
Qualified options exercise price | $ 0 |  |  |  |  |  |  |
Fair value of the Free Cash Flow (FCF) performance awards | $ 7 | $ 12 | $ 6 |  |  |  |  |
Target payout of Free Cash Flows (FCF) performance awards | 88.00% | 131.00% | 89.00% |  |  |  |  |
Employee Stock Ownership Plan (ESOP), Compensation Expense | $ 28 | $ 24 | $ 10 |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Additional Shares Authorized | 10,000,000 |  |  |  |  |  |  |
Minimum [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Range of the target number of performance-based DSUs awarded | 0.00% |  |  |  |  |  |  |
Employee Stock Ownership Plan (ESOP), Weighted Average Purchase Price of Shares Purchased |  |  | $ 29.84 |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Risk Free Interest Rate | 1.42% | 0.66% | 0.27% |  |  |  |  |
Range of the target number of market-based DSUs awarded | 0.00% |  |  |  |  |  |  |
High end of range [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Range of the target number of performance-based DSUs awarded | 150.00% |  |  |  |  |  |  |
Employee Stock Ownership Plan (ESOP), Weighted Average Purchase Price of Shares Purchased | $ 32.31 | $ 36.11 |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Risk Free Interest Rate | 3.87% | 1.20% | 1.72% |  |  |  |  |
Range of the target number of market-based DSUs awarded | 200.00% |  |  |  |  |  |  |
2011 LTIP Plan [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Common Stock, Shares Authorized |  |  |  |  | 171,000,000 |  |  |
Cost of Sales [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Stock-based compensation expense | $ 12 | $ 11 | $ 9 |  |  |  |  |
Selling, General and Administrative Expenses [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Stock-based compensation expense | 167 | 147 | 130 |  |  |  |  |
Research and Development Expense [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Stock-based compensation expense | $ 41 | $ 36 | $ 30 |  |  |  |  |

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- Definition The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + 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)(2)(iii)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + 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)(2)(iii)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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