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Stock Plans - Narrative (Details)
shares in Millions, $ in Millions
12 Months Ended
Dec. 31, 2020
USD ($)
installment
shares
Dec. 31, 2019
USD ($)
Dec. 31, 2018
USD ($)
Minimum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Percentage of performance share units vest ranges 0.00%    
Maximum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Percentage of performance share units vest ranges 200.00%    
Stock options      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Number of annual installments of stock options | installment 3    
Maximum term of stock options 10 years    
Compensation expense $ 28 $ 38 $ 43
Deferred tax benefit related to compensation expense 5 8 7
Unamortized compensation expense related to stock options $ 23    
Unamortized compensation expense recognition period 1 year 4 months 24 days    
Restricted stock, deferred stock units and performance share units      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Compensation expense $ 98 97 85
Deferred tax benefit related to compensation expense $ 15 $ 16 $ 12
Unamortized compensation expense recognition period 1 year 8 months 12 days    
Unamortized compensation expense related to deferred stock units, performance share units and restricted stock $ 107    
Plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Shares award expiration date May 21, 2024    
Shares authorized to be issued under stock option plan (in shares) | shares 243.7    
Shares available to be granted (in shares) | shares 53.2