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Note 4 - Stock Options and Other Stock Plans (Tables)

12 Months Ended

Dec. 31, 2023

Notes Tables

Share-Based Payment Arrangement, Cost by Plan [Table Text Block]

Millions		2023				2022				2021
Stock-based compensation expense, before tax:
Stock options		$	16			$	14			$	15
Retention awards			71				68				66
ESPP			20				17				7
Total stock-based compensation expense, before tax		$	107			$	99			$	88
Excess income tax benefits from equity compensation plans		$	11			$	21			$	26

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

Weighted-Average Assumptions		2023				2022				2021
Risk-free interest rate			3.9	%			1.6	%			0.4	%
Dividend yield			2.6	%			1.9	%			1.9	%
Expected life (years)			4.5				4.4				4.6
Volatility			29.3	%			28.7	%			28.3	%
Weighted-average grant-date fair value of options granted		$	48.31			$	51.92			$	39.97

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, 2023			1,974			$	169.64				6.0			$	86
Granted			351				202.81				N/A				N/A
Exercised			(233	)			118.29				N/A				N/A
Forfeited or expired			(20	)			218.46				N/A				N/A
Outstanding at December 31, 2023			2,072			$	180.56				5.9			$	135
Vested or expected to vest at December 31, 2023			2,053			$	180.23				5.9			$	134
Options exercisable at December 31, 2023			1,423			$	164.48				4.8			$	115

Cash Proceeds Received and Tax Benefit from Share-Based Payment Awards [Table Text Block]

Millions		2023				2022				2021
Intrinsic value of stock options exercised		$	23			$	53			$	84
Cash received from option exercises			27				27				58
Treasury shares repurchased for employee payroll taxes			(5	)			(8	)			(15	)
Income tax benefit realized from option exercises			5				8				16
Aggregate grant-date fair value of stock options vested		$	14			$	13			$	14

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, 2023			1,069			$	196.47
Granted			297				202.88
Vested			(317	)			165.34
Forfeited			(53	)			206.43
Nonvested at December 31, 2023			996			$	207.76

Schedule of Nonvested Performance-Based Units Activity [Table Text Block]

	Shares (thous.)			Weighted-Average Grant-Date Fair Value
Nonvested at January 1, 2023			594			$	199.82
Granted			251				202.81
Vested			(78	)			189.29
Unearned			(127	)			186.11
Forfeited			(23	)			218.31
Nonvested at December 31, 2023			617			$	204.50

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