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Stock Plans - Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Millions
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Shares Subject to Option        
Beginning balance (in shares) 23,503,759 27,751,894 33,855,948  
Options granted (in shares) 2,244,030 2,573,350 2,416,800  
Options exercised (in shares) [1] (4,780,086) (6,249,330) (7,847,964)  
Options cancelled (in shares) (477,453) (572,155) (672,890)  
Ending balance (in shares) 20,490,250 23,503,759 27,751,894  
Exercisable at end of the period (in shares) 16,350,018      
Weighted- Average Exercise or Grant Price Per Share        
Beginning balance (in dollars per share) $ 42.65 $ 39.51 $ 36.19  
Options granted (in dollars per share) 64.64 56.26 58.50  
Options exercised (in dollars per share) [1] 35.96 33.68 30.55  
Options cancelled (in dollars per share) 55.89 49.65 44.94  
Ending balance (in dollars per share) 46.31 $ 42.65 $ 39.51  
Exercisable at end of the period (in dollars per share) $ 42.62      
Average Remaining Contractual Term        
Ending balance 5 years      
Exercisable at end of the period 4 years      
Aggregate Intrinsic Value        
Options exercised [1] $ 142 $ 169 $ 205  
Aggregate intrinsic value 417 556 527 $ 640
Exercisable at end of the period 393      
Cash received from options exercised 158 206 236  
Actual tax benefit realized for the tax deductions from the option exercises $ 22 $ 24 $ 27  
Annual grant to eligible employees        
Shares Subject to Option        
Options granted (in shares) 2,180,540 2,412,710 2,280,440  
Weighted- Average Exercise or Grant Price Per Share        
Options granted (in dollars per share) $ 64.65 $ 56.13 $ 59.04  
Additional options issued        
Shares Subject to Option        
Options granted (in shares) 63,490 160,640 136,360  
Weighted- Average Exercise or Grant Price Per Share        
Options granted (in dollars per share) $ 64.39 $ 58.17 $ 49.48  
[1] Cash received from options exercised was $158 million in 2022, $206 million in 2021 and $236 million in 2020. The actual tax benefit realized and recorded in the provision for income taxes for the tax deductions from the option exercises totaled $22 million in 2022, $24 million in 2021 and $27 million in 2020.