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Note 4 - Stock Options and Other Stock Plans (Tables)
12 Months Ended
Dec. 31, 2022
Notes Tables  
Share-Based Payment Arrangement, Cost by Plan [Table Text Block]

Millions

 

2022

   

2021

   

2020

 

Stock-based compensation, before tax:

                       

Stock options

  $ 14     $ 15     $ 15  

Retention awards

    68       66       58  

ESPP

    17       7       -  

Total stock-based compensation, before tax

  $ 99     $ 88     $ 73  

Excess income tax benefits from equity compensation plans

  $ 21     $ 26     $ 55  
Schedule of Share-Based Payment Award, Stock Options, Valuation Assumptions [Table Text Block]

Weighted-Average Assumptions

 

2022

   

2021

   

2020

 

Risk-free interest rate

    1.6 %     0.4 %     1.5 %

Dividend yield

    1.9 %     1.9 %     2.1 %

Expected life (years)

    4.4       4.6       4.9  

Volatility

    28.7 %     28.3 %     23.4 %

Weighted-average grant-date fair value of options granted

  $ 51.92     $ 39.97     $ 32.20  
Share-Based Payment Arrangement, Option, Activity [Table Text Block]
  Options (thous.) Weighted-Average Exercise Price

Weighted-Average Remaining Contractual Term (yrs.)

Aggregate Intrinsic Value (millions)  

Outstanding at January 1, 2022

    2,106     $ 149.84       6.3     $ 215  

Granted

    328       244.35       N/A       N/A  

Exercised

    (421 )     124.60       N/A       N/A  

Forfeited or expired

    (39 )     214.72       N/A       N/A  

Outstanding at December 31, 2022

    1,974     $ 169.64       6.0     $ 86  

Vested or expected to vest at December 31, 2022

1,954     $ 169.12       6.0     $ 85  

Options exercisable at December 31, 2022

    1,308     $ 144.09       4.9     $ 82  
Cash Proceeds Received and Tax Benefit from Share-Based Payment Awards [Table Text Block]

Millions

 

2022

   

2021

   

2020

 

Intrinsic value of stock options exercised

  $ 53     $ 84     $ 120  

Cash received from option exercises

    27       58       95  

Treasury shares repurchased for employee payroll taxes

    (8 )     (15 )     (24 )

Income tax benefit realized from option exercises

    8       16       28  

Aggregate grant-date fair value of stock options vested

    13       14       15  
Share-Based Payment Arrangement, Restricted Stock and Restricted Stock Unit, Activity [Table Text Block]
  Shares (thous.) Weighted-Average Grant-Date Fair Value  

Nonvested at January 1, 2022

    1,287     $ 165.10  

Granted

    252       241.37  

Vested

    (410 )     126.26  

Forfeited

    (60 )     191.98  

Nonvested at December 31, 2022

    1,069     $ 196.47  
Schedule of Nonvested Performance-Based Units Activity [Table Text Block]
 

Shares (thous.)

Weighted-Average Grant-Date Fair Value

 

Nonvested at January 1, 2022

    641     $ 173.03  

Granted

    209       244.35  

Vested

    (56 )     162.64  

Unearned

    (163 )     161.57  

Forfeited

    (37 )     211.96  

Nonvested at December 31, 2022

    594     $ 199.82